adhoc

completed
2026-09-22T23:36:23.379382+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
394.2 s
total steps
311
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the objects into the safe, then close the safe.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: an open red-lined safe in the middle, a small white teddy keychain to its left, a yellow ball to its right, and a brown teddy bear in front. I'm moving the left arm to hover near the white teddy to calibrate its position in the wrist view.
move_to
left_x0.3800left_y-0.1800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3893, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6067, -0.4038, -0.0204, -0.0265, 0.9996] state[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [-0.5812, -1.347, 10.1402, 1.9951, -0.0659, 0.1978, -0.0904, -0.3214, -1.4701, 9.7573, 2.0586, -0.0415, 0.0952, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.18, "left_z": 0.15, "left_gripper": 1}, "note": "Scene: an open red-lined safe in the middle, a small white teddy keychain to its left, a yellow ball to its right, and a brown teddy bear in front. I'm moving the left arm to hover near the white teddy to calibrate its position in the wrist view."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left wrist view shows the white teddy right on the jaw column; descending onto it with the gripper open.
move_to
left_x0.4000left_y-0.1720left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6632, 1.4872, 0.8787, -0.1543, -0.5247, -0.4286, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3676 left_y=-0.1703 left_z=0.1304 left_yaw=-0.0132 left_pitch=-0.0646 left_roll=0.0312 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.5949, -6.2291, 9.347, 1.8193, -0.4225, 0.0513, -0.0855, -0.0342, -1.4701, 7.0359, 1.9756, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.172, "left_z": 0.02, "left_gripper": 1}, "note": "The left wrist view shows the white teddy right on the jaw column; descending onto it with the gripper open."})
tool
executing move_to over 8 steps (0.8s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe teddy fills the jaw area in the left wrist view; closing the gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6071, 1.8374, 0.7609, 0.2657, -0.4961, -0.4011, 0.9993, -0.0212, 0.8024, 0.6071, -0.4549, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.39 left_y=-0.1642 left_z=0.0162 left_yaw=0.0088 left_pitch=-0.1161 left_roll=0.065 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.164 right_yaw=0.0 right_pitch=-0.0587 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [0.4171, -8.0479, 5.0393, 1.7607, -0.1538, 0.1538, -0.0855, -0.0889, -1.4017, 7.0085, 1.9023, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The teddy fills the jaw area in the left wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteGripper settled at 0.20 (~1.9 cm), so the teddy is grasped; lifting it clear of the table to verify in the overhead view.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6079, 1.8549, 0.754, 0.2756, -0.5022, -0.4057, 0.1985, -0.0212, 0.8024, 0.6067, -0.4782, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.388 left_y=-0.162 left_z=0.009 left_yaw=0.0162 left_pitch=-0.1251 left_roll=0.0736 left_gripper=0.1985 right_x=0.2815 right_y=0.0011 right_z=0.1593 right_yaw=-0.0 right_pitch=-0.0824 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [-0.1162, -9.6752, 5.4632, 1.3602, -0.1783, 0.0024, 0.6422, -0.0752, -1.2376, 7.2137, 1.8535, -0.0269, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper settled at 0.20 (~1.9 cm), so the teddy is grasped; lifting it clear of the table to verify in the overhead view."})
tool
executing move_to over 14 steps (1.4s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteTeddy is held in the jaws; the safe's red interior appears to the arm's right in the wrist view, so I'm moving right and slightly forward to hover over the safe opening.
move_to
left_x0.4200left_y-0.2700left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6079, 1.5513, 1.2606, -0.5812, -0.4999, -0.4175, 0.2002, -0.0212, 0.8036, 0.606, -0.4999, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3883 left_y=-0.1626 left_z=0.191 left_yaw=0.0249 left_pitch=-0.1632 left_roll=0.0909 left_gripper=0.2002 right_x=0.278 right_y=0.0012 right_z=0.1545 right_yaw=0.0001 right_pitch=-0.106 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.3624, -9.7026, 9.4701, 1.4872, -0.2369, 0.0904, 0.1587, -0.0205, -1.306, 6.9949, 1.873, -0.0464, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.27, "left_z": 0.25}, "note": "Teddy is held in the jaws; the safe's red interior appears to the arm's right in the wrist view, so I'm moving right and slightly forward to hover over the safe opening."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe red interior still sits to the right of the held teddy in the wrist view, so shifting 4 cm further right to center over the safe opening.
move_to
left_y-0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7727, 1.9511, 1.9446, -0.9695, -0.5743, -0.5789, 0.2023, -0.0212, 0.8062, 0.6056, -0.5228, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4173 left_y=-0.2678 left_z=0.2348 left_yaw=0.0147 left_pitch=-0.1952 left_roll=0.0863 left_gripper=0.2023 right_x=0.2744 right_y=0.0013 right_z=0.1493 right_yaw=0.0002 right_pitch=-0.132 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-0.5675, -10.7556, 8.5949, 1.072, -0.5836, 0.0855, 0.2125, -0.0342, -1.388, 7.0769, 1.8632, -0.0708, -0.0708, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.31}, "note": "The red interior still sits to the right of the held teddy in the wrist view, so shifting 4 cm further right to center over the safe opening."})
tool
executing move_to over 4 steps (0.4s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteRed safe interior now surrounds the held teddy in the wrist view, so I'm lowering into the opening (slightly forward) to release the teddy inside.
move_to
left_x0.4350left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8326, 2.101, 2.1387, -1.084, -0.5854, -0.6422, 0.2037, -0.0212, 0.8101, 0.6056, -0.5468, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4146 left_y=-0.3054 left_z=0.221 left_yaw=0.0083 left_pitch=-0.2332 left_roll=0.0995 left_gripper=0.2037 right_x=0.2705 right_y=0.0014 right_z=0.144 right_yaw=0.0003 right_pitch=-0.1598 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.294, -11.9316, 8.9368, 1.0525, -0.569, -0.0073, 0.1392, -0.1846, -0.9641, 6.8718, 1.8291, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_z": 0.12}, "note": "Red safe interior now surrounds the held teddy in the wrist view, so I'm lowering into the opening (slightly forward) to release the teddy inside."})
tool
executing move_to over 7 steps (0.7s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe arm did not track the last descent command; trying a smaller downward step into the safe opening to see if it moves.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.659, 0.2046, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0121 left_pitch=-0.2439 left_roll=0.1069 left_gripper=0.2046 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0004 right_pitch=-0.1812 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [0.1026, -12.5333, 8.7043, 1.1844, -0.5788, 0.0562, 0.0708, -0.0889, -1.1556, 7.2137, 1.7802, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16}, "note": "The arm did not track the last descent command; trying a smaller downward step into the safe opening to see if it moves."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe arm is stuck — no motion at all for two commands, likely jammed against the safe's open lid. Retracting toward the base to free it.
move_to
left_x0.3700left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.6594, 0.2059, -0.0212, 0.8101, 0.6056, -0.5911, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0123 left_pitch=-0.2438 left_roll=0.1067 left_gripper=0.2059 right_x=0.2629 right_y=0.0016 right_z=0.1362 right_yaw=0.0004 right_pitch=-0.204 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [0.0342, -12.4786, 8.7043, 1.1844, -0.5739, 0.0366, 0.1294, -0.0889, -1.1556, 6.9402, 1.79, -0.0122, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_z": 0.2}, "note": "The arm is stuck \u2014 no motion at all for two commands, likely jammed against the safe's open lid. Retracting toward the base to free it."})
tool
executing move_to over 4 steps (0.4s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteArm is free again; moving forward over the safe's open interior at a height that should clear the box rim, ready to drop the teddy inside.
move_to
left_x0.4400left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9112, 2.064, 1.9209, -1.0561, -0.5995, -0.7147, 0.208, -0.0212, 0.8158, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3723 left_y=-0.3116 left_z=0.168 left_yaw=0.0122 left_pitch=-0.315 left_roll=0.1809 left_gripper=0.208 right_x=0.2591 right_y=0.0016 right_z=0.1311 right_yaw=0.0003 right_pitch=-0.2315 right_roll=0.0047 right_gripper=0.9996 state[joint_eff]: [-0.1709, -16.759, 7.0359, 1.2527, -0.6178, -0.1343, 0.1978, -0.0752, -1.1692, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_z": 0.19}, "note": "Arm is free again; moving forward over the safe's open interior at a height that should clear the box rim, ready to drop the teddy inside."})
tool
executing move_to over 6 steps (0.6s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteForward motion is blocked around x=0.37 — the teddy or jaws are catching on the safe. Raising higher first so I can move forward over the rim without contact.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9222, 2.0266, 1.9022, -1.0473, -0.6037, -0.7418, 0.2094, -0.0212, 0.8158, 0.6018, -0.6319, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3669 left_y=-0.3122 left_z=0.1798 left_yaw=0.0118 left_pitch=-0.293 left_roll=0.1421 left_gripper=0.2094 right_x=0.2549 right_y=0.0017 right_z=0.1263 right_yaw=0.0004 right_pitch=-0.2544 right_roll=0.0052 right_gripper=0.9996 state[joint_eff]: [0.0752, -13.8325, 6.6256, 1.1551, -0.5543, -0.0415, 0.1245, -0.0615, -1.0735, 7.2274, 1.6337, -0.0464, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Forward motion is blocked around x=0.37 \u2014 the teddy or jaws are catching on the safe. Raising higher first so I can move forward over the rim without contact."})
tool
executing move_to over 7 steps (0.7s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe wrist view shows the red safe interior and its silver rim off to the right of the held teddy, so I'm shifting further right and up to get above the opening.
move_to
left_y-0.3800left_z0.2500left_x0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9222, 2.2265, 2.207, -1.2629, -0.59, -0.7464, 0.211, -0.0212, 0.8165, 0.6018, -0.6571, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3764 left_y=-0.3279 left_z=0.1687 left_yaw=0.038 left_pitch=-0.3677 left_roll=0.226 left_gripper=0.211 right_x=0.2502 right_y=0.0018 right_z=0.1221 right_yaw=0.0009 right_pitch=-0.2803 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [0.0615, -15.3368, 9.1829, 0.2271, -0.569, 0.0366, 0.1587, -0.1436, -0.9504, 6.7624, 1.6484, -0.0171, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.38, "left_z": 0.25, "left_x": 0.36}, "note": "The wrist view shows the red safe interior and its silver rim off to the right of the held teddy, so I'm shifting further right and up to get above the opening."})
tool
executing move_to over 6 steps (0.6s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe teddy is hanging directly over the safe's red interior; releasing it to drop into the case.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9939, 2.3863, 2.6129, -1.5597, -0.5888, -0.8093, 0.213, -0.0212, 0.8185, 0.6018, -0.6762, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3516 left_y=-0.3539 left_z=0.1958 left_yaw=0.0185 left_pitch=-0.3886 left_roll=0.2314 left_gripper=0.213 right_x=0.2466 right_y=0.0019 right_z=0.1187 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.2803, -16.3761, 5.2308, 0.6667, -0.5543, -0.0317, 0.1929, -0.0205, -0.841, 6.735, 1.6142, -0.0464, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The teddy is hanging directly over the safe's red interior; releasing it to drop into the case."})
tool
executing move_to over 8 steps (0.8s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe teddy fell short of the box — it landed on the brown bear just outside the case, and the wrist view shows the red interior is farther forward than I thought. Levelling the tool and dropping down to re-grasp the white teddy.
move_to
left_pitch0.0000left_z0.1200left_x0.3700left_y-0.3450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9943, 2.3863, 2.6034, -1.5715, -0.5804, -0.8173, 0.9952, -0.0212, 0.8185, 0.601, -0.68, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3487 left_y=-0.352 left_z=0.1918 left_yaw=0.0267 left_pitch=-0.4058 left_roll=0.2415 left_gripper=0.9952 right_x=0.2457 right_y=0.0019 right_z=0.1178 right_yaw=0.001 right_pitch=-0.3059 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.0342, -12.8479, 6.106, 0.7595, -0.4322, 0.0269, -0.0855, -0.0205, -0.9094, 6.9675, 1.3993, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": 0, "left_z": 0.12, "left_x": 0.37, "left_y": -0.345}, "note": "The teddy fell short of the box \u2014 it landed on the brown bear just outside the case, and the wrist view shows the red interior is farther forward than I thought. Levelling the tool and dropping down to re-grasp the white teddy."})
tool
executing move_to over 14 steps (1.4s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteWhite teddy is centered under the jaws in the wrist view; descending onto it.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0348, 2.1601, 1.6405, -0.6701, -0.8761, -0.7265, 0.9963, -0.0212, 0.8185, 0.601, -0.6918, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3635 left_y=-0.3392 left_z=0.092 left_yaw=0.0249 left_pitch=-0.0927 left_roll=0.3076 left_gripper=0.9963 right_x=0.2434 right_y=0.0019 right_z=0.116 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.4991, -15.6513, 5.9692, 1.1111, -0.6667, 0.0513, 0.1001, -0.0342, -1.0735, 6.7077, 1.4872, -0.0073, -0.0464, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04}, "note": "White teddy is centered under the jaws in the wrist view; descending onto it."})
tool
executing move_to over 4 steps (0.4s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe teddy sits slightly left of and below the jaw column, so nudging left and back toward the base to center it before closing.
move_to
left_y-0.3220left_x0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0348, 2.2116, 1.5566, -0.5301, -0.8742, -0.7212, 0.9964, -0.0212, 0.8185, 0.601, -0.7025, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3635 left_y=-0.3396 left_z=0.0522 left_yaw=0.0209 left_pitch=-0.0929 left_roll=0.3069 left_gripper=0.9964 right_x=0.2414 right_y=0.002 right_z=0.1144 right_yaw=0.0012 right_pitch=-0.3284 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.335, -10.7419, 5.6, 0.8864, -0.5153, -0.0366, 0.0024, -0.0205, -0.9504, 6.8855, 1.4823, -0.0708, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.322, "left_x": 0.35}, "note": "The teddy sits slightly left of and below the jaw column, so nudging left and back toward the base to center it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe teddy now fills the jaw area at the bottom of the wrist view; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5011, -0.8722, -0.7265, 0.9965, -0.0208, 0.823, 0.601, -0.7101, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3634 left_y=-0.3399 left_z=0.0427 left_yaw=0.0229 left_pitch=-0.0938 left_roll=0.3022 left_gripper=0.9965 right_x=0.2399 right_y=0.0021 right_z=0.1122 right_yaw=0.0013 right_pitch=-0.3406 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.212, -11.5761, 5.6, 0.9206, -0.4322, -0.0366, -0.0073, -0.0752, -1.4154, 6.694, 1.3944, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The teddy now fills the jaw area at the bottom of the wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteTeddy grasped again (gripper 0.21). Lifting well above the safe's front rim before moving forward over the opening.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5018, -0.8722, -0.7334, 0.2076, -0.0212, 0.823, 0.601, -0.7246, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3634 left_y=-0.3398 left_z=0.0426 left_yaw=0.0266 left_pitch=-0.093 left_roll=0.2974 left_gripper=0.2076 right_x=0.237 right_y=0.002 right_z=0.1101 right_yaw=0.0011 right_pitch=-0.3551 right_roll=0.0075 right_gripper=0.9996 state[joint_eff]: [-0.2256, -12.2051, 5.9692, 0.9255, -0.4664, 0.0513, 0.8669, -0.0479, -1.0735, 6.6667, 1.4579, -0.0269, -0.0513, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Teddy grasped again (gripper 0.21). Lifting well above the safe's front rim before moving forward over the opening."})
tool
executing move_to over 11 steps (1.1s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteHolding the teddy at 17 cm, the safe's open interior is directly ahead in the wrist view; moving forward over the middle of the case.
move_to
left_x0.4400left_y-0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0344, 2.1578, 1.9659, -1.0199, -0.8577, -0.7456, 0.2109, -0.0212, 0.8242, 0.601, -0.7326, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.3649 left_y=-0.3453 left_z=0.1703 left_yaw=0.0297 left_pitch=-0.1152 left_roll=0.3037 left_gripper=0.2109 right_x=0.2353 right_y=0.0021 right_z=0.1087 right_yaw=0.0013 right_pitch=-0.3642 right_roll=0.0083 right_gripper=0.9996 state[joint_eff]: [-0.0889, -14.612, 8.294, 0.9353, -0.5885, 0.0806, 0.3394, -0.0889, -0.7179, 6.6667, 1.3895, -0.0611, -0.0171, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.33}, "note": "Holding the teddy at 17 cm, the safe's open interior is directly ahead in the wrist view; moving forward over the middle of the case."})
tool
executing move_to over 6 steps (0.6s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe teddy now hangs over the red floor of the case's bottom half; releasing it inside the safe.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8875, 2.257, 2.0789, -0.9573, -0.7963, -0.5972, 0.2138, -0.0212, 0.8268, 0.601, -0.7433, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4294 left_y=-0.3218 left_z=0.1565 left_yaw=0.0627 left_pitch=-0.1478 left_roll=0.3223 left_gripper=0.2138 right_x=0.2332 right_y=0.0022 right_z=0.1066 right_yaw=0.0016 right_pitch=-0.3776 right_roll=0.0084 right_gripper=0.9996 state[joint_eff]: [0.1436, -12.3556, 8.8, 0.9939, -0.3932, 0.2076, 0.2808, -0.0205, -1.2923, 6.7487, 1.3846, -0.0171, -0.0269, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The teddy now hangs over the red floor of the case's bottom half; releasing it inside the safe."})
tool
executing move_to over 8 steps (0.8s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe white teddy is now inside the safe. Parking the left arm out of the way and bringing the right arm over toward the brown bear to pick it up next.
move_to
left_x0.2500left_y-0.0500left_z0.2500right_x0.3000right_y0.3000right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8841, 2.2597, 2.0857, -0.9657, -0.7895, -0.6064, 0.9951, -0.0208, 0.8268, 0.601, -0.7471, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4299 left_y=-0.3209 left_z=0.1559 left_yaw=0.068 left_pitch=-0.1537 left_roll=0.3152 left_gripper=0.9951 right_x=0.2324 right_y=0.0023 right_z=0.1061 right_yaw=0.002 right_pitch=-0.3814 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [-0.2667, -13.1487, 5.8872, 1.0281, -0.4908, 0.0366, -0.1294, -0.0889, -1.0872, 6.653, 1.3065, -0.0464, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.25, "right_x": 0.3, "right_y": 0.3, "right_z": 0.2, "right_pitch": 0}, "note": "The white teddy is now inside the safe. Parking the left arm out of the way and bringing the right arm over toward the brown bear to pick it up next."})
tool
executing move_to over 25 steps (2.5s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteRight wrist view shows the brown bear lying just under the jaws and the yellow ball beside the case. Descending onto the bear to grasp it.
move_to
right_x0.3000right_y0.2700right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6743, 1.0061, 1.1091, -1.0641, -0.6903, -0.3862, 0.9963, 1.0805, 1.6466, 1.301, -0.6689, 0.7723, 0.7696, 0.9996] state[eef_state]: left_x=0.2556 left_y=-0.0557 left_z=0.2509 left_yaw=0.084 left_pitch=-0.138 left_roll=0.2895 left_gripper=0.9963 right_x=0.2914 right_y=0.2918 right_z=0.1819 right_yaw=0.0371 right_pitch=-0.0633 right_roll=-0.0481 right_gripper=0.9996 state[joint_eff]: [0.253, -1.7436, 5.8051, 1.326, -0.1978, 0.1538, 0.1099, 0.1573, -7.8974, 8.5402, 1.4139, 0.6081, 0.2466, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.27, "right_z": 0.06}, "note": "Right wrist view shows the brown bear lying just under the jaws and the yellow ball beside the case. Descending onto the bear to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe brown bear is directly between the jaws in the right wrist view; closing on its body.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0786, -0.6842, -0.3828, 0.9964, 1.0286, 1.7367, 0.9077, -0.2161, 0.7391, 0.7139, 0.9996] state[eef_state]: left_x=0.2536 left_y=-0.055 left_z=0.2461 left_yaw=0.0814 left_pitch=-0.1592 left_roll=0.3048 left_gripper=0.9964 right_x=0.2918 right_y=0.2608 right_z=0.0589 right_yaw=0.0325 right_pitch=-0.1057 right_roll=-0.1029 right_gripper=0.9996 state[joint_eff]: [-0.0889, -2.2906, 6.5436, 1.3309, -0.3883, -0.0757, 0.0024, -0.3761, -7.1316, 6.0513, 1.4139, 0.3492, -0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "The brown bear is directly between the jaws in the right wrist view; closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteGripper closed to 0.05 on the bear's fur; lifting to see whether the bear comes with it.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0824, -0.6838, -0.3828, 0.9964, 1.0264, 1.7531, 0.8871, -0.2161, 0.7322, 0.7078, 0.0545] state[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.2456 left_yaw=0.0816 left_pitch=-0.1622 left_roll=0.3072 left_gripper=0.9964 right_x=0.288 right_y=0.2545 right_z=0.0462 right_yaw=0.0336 right_pitch=-0.1313 right_roll=-0.1355 right_gripper=0.0545 state[joint_eff]: [-0.2803, -1.9487, 6.1333, 1.2186, -0.3785, -0.022, -0.0073, 0.0615, -9.2103, 7.1726, 1.1062, 0.3785, 0.0513, 0.0904] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper closed to 0.05 on the bear's fur; lifting to see whether the bear comes with it."})
tool
executing move_to over 12 steps (1.2s)
step 215
top_cam
camera top_cam step 215
assistant
agent noteThe bear stayed on the table (gripper only closed to 0.05 on fur). Reopening and pressing lower into the plush torso for a deeper grasp.
move_to
right_gripper1.0000right_z0.0200right_x0.3000right_y0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0855, -0.6838, -0.3824, 0.9965, 1.026, 1.5967, 1.3739, -0.8848, 0.7185, 0.7067, 0.0542] state[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1645 left_roll=0.3096 left_gripper=0.9965 right_x=0.288 right_y=0.2578 right_z=0.1988 right_yaw=0.0381 right_pitch=-0.1556 right_roll=-0.1512 right_gripper=0.0542 state[joint_eff]: [-0.1436, -1.935, 6.1333, 1.2479, -0.3834, -0.0366, -0.0073, -0.2393, -8.9915, 8.3624, 1.1746, 0.4029, -0.0073, -0.0415] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.02, "right_x": 0.3, "right_y": 0.25}, "note": "The bear stayed on the table (gripper only closed to 0.05 on fur). Reopening and pressing lower into the plush torso for a deeper grasp."})
tool
executing move_to over 12 steps (1.2s)
step 227
assistant
agent noteJaws are straddling the bear's torso at table level; closing fully to grip the plush.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.984, 1.7973, 0.881, -0.1909, 0.7006, 0.6586, 0.9956] state[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2954 right_y=0.2451 right_z=0.0281 right_yaw=0.0325 right_pitch=-0.1729 right_roll=-0.1772 right_gripper=0.9956 state[joint_eff]: [-0.0068, -1.9487, 6.4068, 1.2088, -0.3394, -0.0171, -0.0122, -0.6769, -6.2701, 4.7111, 0.9158, 0.2564, -0.0952, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws are straddling the bear's torso at table level; closing fully to grip the plush."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteJaws fully closed on the bear's fur; lifting to check whether the bear comes up with the gripper.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9848, 1.808, 0.8768, -0.1619, 0.7063, 0.6544, 0.0134] state[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2974 right_y=0.2472 right_z=0.0264 right_yaw=0.0344 right_pitch=-0.1609 right_roll=-0.1716 right_gripper=0.0134 state[joint_eff]: [-0.1026, -1.9487, 6.2564, 1.199, -0.3639, -0.0366, -0.0122, -0.335, -9.0051, 5.5726, 0.7399, 0.2222, 0.0073, 0.7546] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Jaws fully closed on the bear's fur; lifting to check whether the bear comes up with the gripper."})
tool
executing move_to over 12 steps (1.2s)
step 249
assistant
agent noteThe bear appears to be lifted in the gripper with the open case visible beyond it; carrying it forward and left to hover over the safe's interior.
move_to
right_x0.4000right_y0.3200right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9867, 1.6169, 1.3205, -0.8352, 0.6872, 0.654, 0.016] state[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2955 right_y=0.2503 right_z=0.1747 right_yaw=0.0411 right_pitch=-0.1973 right_roll=-0.1936 right_gripper=0.016 state[joint_eff]: [-0.1709, -1.9487, 6.188, 1.1941, -0.3687, -0.0659, -0.0122, -0.4444, -9.5932, 8.6769, 1.1551, 0.4762, -0.0366, 0.7106] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.32, "right_z": 0.24}, "note": "The bear appears to be lifted in the gripper with the open case visible beyond it; carrying it forward and left to hover over the safe's interior."})
tool
executing move_to over 9 steps (0.9s)
step 258
assistant
agent noteThe bear is definitely held; the case's near rim shows just above it in the wrist view, so I'm advancing 5 cm to get the bear over the interior.
move_to
right_x0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0126, 1.1046, -1.087, -0.6838, -0.3824, 0.9965, 0.881, 2.1048, 2.1788, -1.1419, 0.6235, 0.5312, 0.0167] state[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2447 left_yaw=0.0822 left_pitch=-0.167 left_roll=0.312 left_gripper=0.9965 right_x=0.3931 right_y=0.3201 right_z=0.2303 right_yaw=0.0509 right_pitch=-0.2141 right_roll=-0.1944 right_gripper=0.0167 state[joint_eff]: [-0.2256, -2.0718, 6.5026, 1.1893, -0.3297, -0.0464, -0.0122, -0.6632, -11.5214, 7.4598, 0.8278, 0.4078, 0.0024, 0.652] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45}, "note": "The bear is definitely held; the case's near rim shows just above it in the wrist view, so I'm advancing 5 cm to get the bear over the interior."})
tool
executing move_to over 5 steps (0.5s)
step 263
assistant
agent noteThe case's red interior fills the view just beyond the bear; nudging forward and down then opening the jaws to drop the bear into the safe.
move_to
right_x0.4700right_z0.1900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0134, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7937, 2.318, 2.4992, -1.2606, 0.5705, 0.4473, 0.0165] state[eef_state]: left_x=0.2528 left_y=-0.0544 left_z=0.2445 left_yaw=0.0822 left_pitch=-0.1673 left_roll=0.3123 left_gripper=0.9965 right_x=0.4391 right_y=0.3155 right_z=0.2161 right_yaw=0.042 right_pitch=-0.2649 right_roll=-0.2275 right_gripper=0.0165 state[joint_eff]: [-0.2803, -2.0308, 6.147, 1.1746, -0.3541, -0.0415, -0.0122, -0.253, -12.9299, 7.9248, 1.2137, 0.4176, 0.022, 0.2906] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.19, "right_gripper": 1}, "note": "The case's red interior fills the view just beyond the bear; nudging forward and down then opening the jaws to drop the bear into the safe."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteBear is in the safe on top of the teddy. Now going down beside the case toward the yellow ball, which sits just outside the case's right-front corner.
move_to
right_x0.4000right_y0.2300right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0863, -0.6838, -0.3824, 0.9965, 0.786, 2.3379, 2.5286, -1.2633, 0.5632, 0.4252, 0.9949] state[eef_state]: left_x=0.253 left_y=-0.0546 left_z=0.2442 left_yaw=0.0824 left_pitch=-0.1684 left_roll=0.3133 left_gripper=0.9965 right_x=0.4439 right_y=0.316 right_z=0.2148 right_yaw=0.0529 right_pitch=-0.2669 right_roll=-0.233 right_gripper=0.9949 state[joint_eff]: [-0.0615, -2.1128, 6.147, 1.1941, -0.3834, -0.0366, -0.0122, -0.1573, -12.6017, 8.8, 1.3309, 0.3248, 0.0171, -0.2369] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.23, "right_z": 0.03, "right_gripper": 1}, "note": "Bear is in the safe on top of the teddy. Now going down beside the case toward the yellow ball, which sits just outside the case's right-front corner."})
tool
executing move_to over 12 steps (1.2s)
step 285
assistant
agent noteThe yellow ball is at the right edge of the wrist view, outside the case; shifting right and slightly forward to line the jaws up on it.
move_to
right_y0.1850right_x0.4200right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7181, 1.9694, 1.2224, -0.2832, 0.5224, 0.3622, 0.999] state[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0824 left_pitch=-0.1687 left_roll=0.3136 left_gripper=0.9965 right_x=0.4004 right_y=0.2376 right_z=0.0417 right_yaw=0.0555 right_pitch=-0.265 right_roll=-0.2195 right_gripper=0.999 state[joint_eff]: [-0.212, -1.9897, 6.3385, 1.1697, -0.3297, -0.0366, -0.0073, -1.0735, -9.1145, 4.4103, 0.5592, 0.2906, -0.1978, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.185, "right_x": 0.42, "right_z": 0.04}, "note": "The yellow ball is at the right edge of the wrist view, outside the case; shifting right and slightly forward to line the jaws up on it."})
tool
executing move_to over 5 steps (0.5s)
step 290
assistant
agent noteScale check says the ball is ~10 cm further right than the jaws; moving right along the outside of the case to reach it.
move_to
right_y0.0900right_x0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3828, 0.9965, 0.5846, 1.9263, 1.1347, -0.1757, 0.4507, 0.2607, 0.999] state[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0826 left_pitch=-0.1686 left_roll=0.3133 left_gripper=0.9965 right_x=0.4214 right_y=0.1909 right_z=0.0389 right_yaw=0.0411 right_pitch=-0.2589 right_roll=-0.2005 right_gripper=0.999 state[joint_eff]: [-0.1573, -1.9487, 6.1607, 1.1502, -0.3541, -0.0513, -0.0122, -0.2256, -10.7829, 5.1487, 1.2625, 0.232, -0.1245, -0.0171] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.09, "right_x": 0.43}, "note": "Scale check says the ball is ~10 cm further right than the jaws; moving right along the outside of the case to reach it."})
tool
executing move_to over 9 steps (0.9s)
step 299
assistant
agent noteThe yellow lemon is just left of and beyond the jaw column; moving forward-left and down to straddle it.
move_to
right_x0.4550right_y0.1150right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0157, 1.1042, -1.0863, -0.6838, -0.3824, 0.9965, 0.3309, 1.8156, 0.9543, -0.0242, 0.2863, 0.0658, 0.999] state[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.244 left_yaw=0.0825 left_pitch=-0.1689 left_roll=0.3139 left_gripper=0.9965 right_x=0.4319 right_y=0.0994 right_z=0.036 right_yaw=0.0378 right_pitch=-0.2577 right_roll=-0.1755 right_gripper=0.999 state[joint_eff]: [-0.1983, -1.7983, 6.1744, 1.1844, -0.3687, -0.022, -0.0171, -0.8957, -10.0855, 5.0393, 1.3553, 0.315, -0.1587, -0.0171] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.115, "right_z": 0.02}, "note": "The yellow lemon is just left of and beyond the jaw column; moving forward-left and down to straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 301
assistant
agent noteNudging 2 cm left to center the lemon between the jaws while closing on it.
move_to
right_y0.1300right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0874, -0.6838, -0.3828, 0.9965, 0.334, 1.8786, 1.0119, -0.0212, 0.2802, 0.0505, 0.9989] state[eef_state]: left_x=0.2529 left_y=-0.0544 left_z=0.2441 left_yaw=0.0827 left_pitch=-0.1692 left_roll=0.3138 left_gripper=0.9965 right_x=0.4454 right_y=0.1066 right_z=0.0298 right_yaw=0.0544 right_pitch=-0.2627 right_roll=-0.182 right_gripper=0.9989 state[joint_eff]: [-0.212, -1.8803, 6.2154, 1.1795, -0.3101, -0.0562, -0.0122, 0.6496, -7.9658, 6.1607, 1.2283, 0.2564, 0.0806, -0.0171] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.13, "right_gripper": 0.15}, "note": "Nudging 2 cm left to center the lemon between the jaws while closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 310
assistant
agent notePlaced the white teddy keychain and the brown teddy bear inside the open safe. The yellow lemon remained outside — my last grasp attempt closed empty (gripper 0.16) — and I ran out of budget before closing the lid.
done
hindsightKey things I wish I'd known: (1) On this rig the safe/case sits at roughly left_x≈0.43, left_y≈-0.33 (= right_y≈0.32); its open lid stands up at the back and the gripper jams against the case if you try to descend into it from x≈0.37 — approach the opening from above at z≥0.20 and release the object rather than lowering inside. (2) Repeated "move executed but readback unchanged" events mean mechanical contact with the case, not IK failure; retract in x and raise z to free the arm. (3) Pitch drifts several tenths of a radian over a run if you never command it; command pitch=0 explicitly to keep the wrist camera geometry predictable. (4) Plush toys read as gripper≈0.01–0.05 when grasped because the fur compresses, so the "below 0.04 is empty" rule does not apply to them — verify by lifting. (5) The top camera's horizontal scale in the working region is only ~2.5 px/cm and the standing lid reads much higher than it is, so don't calibrate depth off it; a single wrist-view move of known size is far more reliable. (6) Budget: each grasp-and-place cycle costs ~8 LLM calls; plan for 3 objects plus lid closure to need ~30+.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6735, 1.0172, 1.1042, -1.0863, -0.6838, -0.3828, 0.9965, 0.3466, 1.9038, 1.0218, -0.0303, 0.2634, 0.0505, 0.1558] state[eef_state]: left_x=0.2532 left_y=-0.0547 left_z=0.2436 left_yaw=0.0828 left_pitch=-0.17 left_roll=0.3146 left_gripper=0.9965 right_x=0.4429 right_y=0.1149 right_z=0.0203 right_yaw=0.0792 right_pitch=-0.2898 right_roll=-0.1756 right_gripper=0.1558 state[joint_eff]: [0.0068, -2.0308, 6.3385, 1.2039, -0.3492, -0.0269, -0.0122, -0.4855, -11.2068, 5.2718, 1.4774, 0.3736, 0.0366, 0.2466] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
done({"summary": "Placed the white teddy keychain and the brown teddy bear inside the open safe. The yellow lemon remained outside \u2014 my last grasp attempt closed empty (gripper 0.16) \u2014 and I ran out of budget before closing the lid.", "hindsight": "Key things I wish I'd known: (1) On this rig the safe/case sits at roughly left_x\u22480.43, left_y\u2248-0.33 (= right_y\u22480.32); its open lid stands up at the back and the gripper jams against the case if you try to descend into it from x\u22480.37 \u2014 approach the opening from above at z\u22650.20 and release the object rather than lowering inside. (2) Repeated \"move executed but readback unchanged\" events mean mechanical contact with the case, not IK failure; retract in x and raise z to free the arm. (3) Pitch drifts several tenths of a radian over a run if you never command it; command pitch=0 explicitly to keep the wrist camera geometry predictable. (4) Plush toys read as gripper\u22480.01\u20130.05 when grasped because the fur compresses, so the \"below 0.04 is empty\" rule does not apply to them \u2014 verify by lifting. (5) The top camera's horizontal scale in the working region is only ~2.5 px/cm and the standing lid reads much higher than it is, so don't calibrate depth off it; a single wrist-view move of known size is far more reliable. (6) Budget: each grasp-and-place cycle costs ~8 LLM calls; plan for 3 objects plus lid closure to need ~30+."})
tool
done: Placed the white teddy keychain and the brown teddy bear inside the open safe. The yellow lemon remained outside — my last grasp attempt closed empty (gripper 0.16) — and I ran out of budget before closing the lid.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 22.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3893, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6067, -0.4038, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.347, 10.1402, 1.9951, -0.0659, 0.1978, -0.0904, -0.3214, -1.4701, 9.7573, 2.0586, -0.0415, 0.0952, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ffe95aa03b1c415048028dedf967439b85de517f892def1c79547c43a9a6546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3df85a454b2523eee3c8fa4a4d12c458ce7764ce8d11ea60e0d6d95a2feb17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a3fb7d821a96af19b0aa73b820ea1319f048a5c5ae10fd7b4055d63422e55e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 9.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3893, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6067, -0.4038, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.347, 10.1402, 1.9951, -0.0659, 0.1978, -0.0904, -0.3214, -1.4701, 9.7573, 2.0586, -0.0415, 0.0952, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ffe95aa03b1c415048028dedf967439b85de517f892def1c79547c43a9a6546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3df85a454b2523eee3c8fa4a4d12c458ce7764ce8d11ea60e0d6d95a2feb17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a3fb7d821a96af19b0aa73b820ea1319f048a5c5ae10fd7b4055d63422e55e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jqj4FjSuCpY7EdNkBzJhkE",
      "input": {
        "note": "Scene: an open red-lined safe in the middle, a small white teddy keychain to its left, a yellow ball to its right, and a brown teddy bear in front. I'm moving the left arm to hover near the white teddy to calibrate its position in the wrist view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.38,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Jqj4FjSuCpY7EdNkBzJhkE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 1.4872, 0.8787, -0.1543, -0.5247, -0.4286, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.1703 left_z=0.1304 left_yaw=-0.0132 left_pitch=-0.0646 left_roll=0.0312 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2291, 9.347, 1.8193, -0.4225, 0.0513, -0.0855, -0.0342, -1.4701, 7.0359, 1.9756, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22bcf8ad74da9fa887c00cee86661a0700f1cf861b2bd54be7b45e630e055c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3755676bf096d1e5f69151c676b7341c07bd61b3bfeb69711f73c47f74fc5382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45cea7194685cff0c9d6449e47b82ca708055dab86901d9701681bf83ed5c2ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.823 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3893, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6067, -0.4038, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.347, 10.1402, 1.9951, -0.0659, 0.1978, -0.0904, -0.3214, -1.4701, 9.7573, 2.0586, -0.0415, 0.0952, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 1.4872, 0.8787, -0.1543, -0.5247, -0.4286, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.1703 left_z=0.1304 left_yaw=-0.0132 left_pitch=-0.0646 left_roll=0.0312 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2291, 9.347, 1.8193, -0.4225, 0.0513, -0.0855, -0.0342, -1.4701, 7.0359, 1.9756, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22bcf8ad74da9fa887c00cee86661a0700f1cf861b2bd54be7b45e630e055c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3755676bf096d1e5f69151c676b7341c07bd61b3bfeb69711f73c47f74fc5382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45cea7194685cff0c9d6449e47b82ca708055dab86901d9701681bf83ed5c2ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Crd46od73ZNYuUyfP9KoCU",
      "input": {
        "note": "The left wrist view shows the white teddy right on the jaw column; descending onto it with the gripper open.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.172,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Crd46od73ZNYuUyfP9KoCU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6071, 1.8374, 0.7609, 0.2657, -0.4961, -0.4011, 0.9993, -0.0212, 0.8024, 0.6071, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.39 left_y=-0.1642 left_z=0.0162 left_yaw=0.0088 left_pitch=-0.1161 left_roll=0.065 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.164 right_yaw=0.0 right_pitch=-0.0587 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -8.0479, 5.0393, 1.7607, -0.1538, 0.1538, -0.0855, -0.0889, -1.4017, 7.0085, 1.9023, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2ba93efb5803e15d2133c7dbe0e742b412b865a1ab463fb615a67c17c17a42e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36af0e590161cb3cc7ec992d4a2dce1d20948c4c04f7411272210f44f9463ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b01e75c97334d57aeed01ff76b00d8c495adf3d912a10a7b9854ac3d92bb50d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 11.36 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3893, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6067, -0.4038, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1785 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.001 right_z=0.1762 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.347, 10.1402, 1.9951, -0.0659, 0.1978, -0.0904, -0.3214, -1.4701, 9.7573, 2.0586, -0.0415, 0.0952, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 1.4872, 0.8787, -0.1543, -0.5247, -0.4286, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.1703 left_z=0.1304 left_yaw=-0.0132 left_pitch=-0.0646 left_roll=0.0312 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2291, 9.347, 1.8193, -0.4225, 0.0513, -0.0855, -0.0342, -1.4701, 7.0359, 1.9756, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6071, 1.8374, 0.7609, 0.2657, -0.4961, -0.4011, 0.9993, -0.0212, 0.8024, 0.6071, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.39 left_y=-0.1642 left_z=0.0162 left_yaw=0.0088 left_pitch=-0.1161 left_roll=0.065 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.164 right_yaw=0.0 right_pitch=-0.0587 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -8.0479, 5.0393, 1.7607, -0.1538, 0.1538, -0.0855, -0.0889, -1.4017, 7.0085, 1.9023, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2ba93efb5803e15d2133c7dbe0e742b412b865a1ab463fb615a67c17c17a42e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36af0e590161cb3cc7ec992d4a2dce1d20948c4c04f7411272210f44f9463ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b01e75c97334d57aeed01ff76b00d8c495adf3d912a10a7b9854ac3d92bb50d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1gIKjgEIEhgCKkBMm9Sis6KYCEHwO+ErO09r3d0TQKGzc1WVFAle8B6wJyuRLHhnKImItHU8JkDOsOcgheyEnJKA/0afKIdGczN+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaWizNUGEgw74SnG6eyCyh1ttbUaDPPQ1gAK6r2VxVxGlCIwOuIC/aJ5wfcTBWSnXqufldCQS8IebsPJepfM2Yi4pskxzVOBOKZbasF4UsENqeVNKnVVKfFEm6GeMgtoS+YDS66iRuLIvLrEo0e8M2brXiPh/QsYORGn0Q4UD123UX+geSbXXAvntJbCi6unidUrjHNgztlnvmxNyC1lhT3KoecjelarEv9kigKkB41eMGh99fGb21hIw1KTy5A98mBx4EAHivDjg7EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018KFEhWLn89DF74u2Cb7B9c",
      "input": {
        "note": "The teddy fills the jaw area in the left wrist view; closing the gripper on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018KFEhWLn89DF74u2Cb7B9c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.8549, 0.754, 0.2756, -0.5022, -0.4057, 0.1985, -0.0212, 0.8024, 0.6067, -0.4782, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.388 left_y=-0.162 left_z=0.009 left_yaw=0.0162 left_pitch=-0.1251 left_roll=0.0736 left_gripper=0.1985 right_x=0.2815 right_y=0.0011 right_z=0.1593 right_yaw=-0.0 right_pitch=-0.0824 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -9.6752, 5.4632, 1.3602, -0.1783, 0.0024, 0.6422, -0.0752, -1.2376, 7.2137, 1.8535, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9551cf0fdf71e9af4fe0e5254d0f8758ca0fcb59264e451d4308dbca117fcc8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3521cc0f79039fd1a784670d42b9bd67df4d2a17502aec8249fe1725d027208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:390c6aa146786eef75595ace65987d645a04b6cbf8765b7cc2500afb95fedc7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.459 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 1.4872, 0.8787, -0.1543, -0.5247, -0.4286, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.1703 left_z=0.1304 left_yaw=-0.0132 left_pitch=-0.0646 left_roll=0.0312 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -6.2291, 9.347, 1.8193, -0.4225, 0.0513, -0.0855, -0.0342, -1.4701, 7.0359, 1.9756, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6071, 1.8374, 0.7609, 0.2657, -0.4961, -0.4011, 0.9993, -0.0212, 0.8024, 0.6071, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.39 left_y=-0.1642 left_z=0.0162 left_yaw=0.0088 left_pitch=-0.1161 left_roll=0.065 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.164 right_yaw=0.0 right_pitch=-0.0587 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -8.0479, 5.0393, 1.7607, -0.1538, 0.1538, -0.0855, -0.0889, -1.4017, 7.0085, 1.9023, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.8549, 0.754, 0.2756, -0.5022, -0.4057, 0.1985, -0.0212, 0.8024, 0.6067, -0.4782, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.388 left_y=-0.162 left_z=0.009 left_yaw=0.0162 left_pitch=-0.1251 left_roll=0.0736 left_gripper=0.1985 right_x=0.2815 right_y=0.0011 right_z=0.1593 right_yaw=-0.0 right_pitch=-0.0824 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -9.6752, 5.4632, 1.3602, -0.1783, 0.0024, 0.6422, -0.0752, -1.2376, 7.2137, 1.8535, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9551cf0fdf71e9af4fe0e5254d0f8758ca0fcb59264e451d4308dbca117fcc8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3521cc0f79039fd1a784670d42b9bd67df4d2a17502aec8249fe1725d027208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:390c6aa146786eef75595ace65987d645a04b6cbf8765b7cc2500afb95fedc7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1AkKjgEIEhgCKkByMPWB3w8qU/dU8ouoqtsyVfOxWKS6/jbWWIHSyPaCyx+BWS8+0PRN3j4TxoYKIuo4X1OhBDpIny9LcWREaDIMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+izNUGEgwWyWMbvipzhUAUJXcaDBqOHQdvnD0ardUlsSIwEt6Io8WqoAytZT8cTzae7dh1mlWx/DfcQVkUhdOfzOMubDBOExWvnw7cHb/snUuZKvIH7zPCtPHdQiWD+Ze+qO4CN7fI2xLkw0Ut3cTz3N+gNcfdZIyZfbGo/5z2SvV7fkA+hLAzLP5gdiT+Oluxrertl76PS8lFdVd0Nq2KNCKT7e5huHsr1n4ocgm8F7JrnjjFUKdQQgqCKG0O3TwfhCI9uWi7b31c/ofzqqyFHTYhTdKr2dZFZrLytlYqQOU9RB0JR4694xidgeII6qwMdrMdHmVJ60x1XxJ2fXT1dQcIVpBnh3Qas2cQUvwQPq33ZwqpdwQn2ewxNCjZw0Pomlcb9w9e4Qj31iq4D9bmAufH/q6cb55azmDIFOR3fTUvOAlHDwmaWALAWWV/delUuIk6aFebRvWNQ1bbpbz/nFdqtnmnut6HtPqLRWVe/B+3QnZ7l+pgp0ht2hYAAvajAhKi2qOsmB2zju8ZeajTax6PHRYqKHFfCIlT/ftBvVoGcBvjPsd3mS4Y8zRH8RI6KIjM/pmlcJb4Rmyx7AtFiIYJMBrwT9Ec44D9jaWo3Brsc7j+i69L/bgcEybDDLQcM9h6v5gE1cAzqKy4MdD2at3KRSbTEyyw5YJuoa5uFVEYTlkBMnYJ3Z55YiPr8q/4M2YrPLDO5QTF9Cgec5eU/sRMHiuzzY7xMTvKolyz3WWjXh1wHruj/vnx+05Kjv9Xu9pL92FanE0qjEd+zGBCz0uIQGwXOP+fY69AoLCu+H0H7I9ZYyEwuTaxr6HtUhvepmzwPt3S5dL+PA6GvZD9gqPBzjgiTaW90SSanCTBpPb9ESHKoLAlOriGkTB7TLGui1UYeaa8DEA6GbQmg1kQEh1aBy4tpC1aeSAQQva+b3H7wc3iSbiBjLrOxGUD3KWDBecGDN7hC667lNgn+czDc2ks3ngA2aNwnWg6T7C95NIN196G0MTQCUb5/MYCqt4GTDQt6m2EIoGSPLtLk0axZMnydPMRVK9TAd0teWF42VDEuzGoSzDys8gL+zyKeCkWW0geMaPQKITVFQyu6bIfwtkq0bGGfYB3lZzRe0bPXTqtWxEsyUqYdfmnRcL/tv/frzqa8lRYiA/mFlIfyF6QoQpGVmkk3RlXup98h5NXFeV4TuHV9WUolBquLyG0ibXxE5iFi9+ww/wmIYvd/ZpxcmAIDkFl7xrSwv0dve1URMN5bHhEXYEHqYk9UDdGyeFmtGjhXhP3V+PM2obnre1Xm7nY+Xc8cymygL55A2ME88CFfdjdxeTeuZmqx8kbkdBnasmdaqIgoVkJWsMs+R86wsw+v6ez+1Z4YMDUkmGjn9+MiLrcBAjKIOlNgNSGmRUj07VeCG2nMOfMNJu7IDdiH/J37e2XE2t2GFB34GpajeWVRl/5HyAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPzizJyysL3rGS1FrBMGAk",
      "input": {
        "note": "Gripper settled at 0.20 (~1.9 cm), so the teddy is grasped; lifting it clear of the table to verify in the overhead view.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GPzizJyysL3rGS1FrBMGAk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.5513, 1.2606, -0.5812, -0.4999, -0.4175, 0.2002, -0.0212, 0.8036, 0.606, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3883 left_y=-0.1626 left_z=0.191 left_yaw=0.0249 left_pitch=-0.1632 left_roll=0.0909 left_gripper=0.2002 right_x=0.278 right_y=0.0012 right_z=0.1545 right_yaw=0.0001 right_pitch=-0.106 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.7026, 9.4701, 1.4872, -0.2369, 0.0904, 0.1587, -0.0205, -1.306, 6.9949, 1.873, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e22ee0f5ae7e4be172cb1dcedeb577d6fcbf38418c7f82f0bbd69ca7506b6c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6faec5022da740cdce4bdbf970152ff87f63ad8d732fe9168aa23e90539c182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6312825d0eb3c9c5c2d0a9e545e4f6b405902f7d068f08125f21fd866c9fe950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 7.394 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6071, 1.8374, 0.7609, 0.2657, -0.4961, -0.4011, 0.9993, -0.0212, 0.8024, 0.6071, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.39 left_y=-0.1642 left_z=0.0162 left_yaw=0.0088 left_pitch=-0.1161 left_roll=0.065 left_gripper=0.9993 right_x=0.2851 right_y=0.0011 right_z=0.164 right_yaw=0.0 right_pitch=-0.0587 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -8.0479, 5.0393, 1.7607, -0.1538, 0.1538, -0.0855, -0.0889, -1.4017, 7.0085, 1.9023, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.8549, 0.754, 0.2756, -0.5022, -0.4057, 0.1985, -0.0212, 0.8024, 0.6067, -0.4782, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.388 left_y=-0.162 left_z=0.009 left_yaw=0.0162 left_pitch=-0.1251 left_roll=0.0736 left_gripper=0.1985 right_x=0.2815 right_y=0.0011 right_z=0.1593 right_yaw=-0.0 right_pitch=-0.0824 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -9.6752, 5.4632, 1.3602, -0.1783, 0.0024, 0.6422, -0.0752, -1.2376, 7.2137, 1.8535, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.5513, 1.2606, -0.5812, -0.4999, -0.4175, 0.2002, -0.0212, 0.8036, 0.606, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3883 left_y=-0.1626 left_z=0.191 left_yaw=0.0249 left_pitch=-0.1632 left_roll=0.0909 left_gripper=0.2002 right_x=0.278 right_y=0.0012 right_z=0.1545 right_yaw=0.0001 right_pitch=-0.106 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.7026, 9.4701, 1.4872, -0.2369, 0.0904, 0.1587, -0.0205, -1.306, 6.9949, 1.873, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e22ee0f5ae7e4be172cb1dcedeb577d6fcbf38418c7f82f0bbd69ca7506b6c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6faec5022da740cdce4bdbf970152ff87f63ad8d732fe9168aa23e90539c182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6312825d0eb3c9c5c2d0a9e545e4f6b405902f7d068f08125f21fd866c9fe950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AYKjgEIEhgCKkB/XRMrp6SeDse7xpx8gxM45YDSVf7kJcq8zeoLqAolNEtAYptoclEBilQHudZs9XAQ0inbKW/3GFWKaaWFz6YnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmizNUGEgwaTKrwl6xf3BqRGHYaDCxCIM5R9DwRjeRu0yIweobc0wpUI5Ebm69aDdmfEM23Cmhcjbhm3Kny/3H2iG8OUv0iGSe4uyKdGahqZTzHKu4ENtJ4vnPeJaNqIlEt/ZA+Hk096LilLCFWgGeRyOtXYma6eG9IZ21Pjx6RN/mvDEhiF3Cx69+EFx0V/Zc8pPpudr9yHH8arFRYjydFL0nmZ87JBATYqUTTNV9VOOY/OgL0gzABAfHcLl+y6lj7YDYevMSn5Qv0ELPbE2KTP92rrRkpNEOOx6OwbhNhYm5I2GPfIaR53MdBFEfW6bMPXAR530AT6MMCQG3viX+XAjzGPc5NCyfIBXtkWT+snqojyzuPrADxBaePCRwXljc7X6ctEJs5wF/eKpru7NB1PkZGM/OxXdyV9aSiEUWlCfQOJ6IRU96AiAC+mTEa2NwNPmR+4VViMMnCfHFi+1YxYVKzj35ti0BnQuvD3+UdjxlV57tXpSp60CE7fkH4Y4sjkGhroI0em1abdankg2MXhX90TQcSS7HVenskiAfOq0q5Kxn9qZyQmUbTjoHZJN2tOEeFVVhE4Fn9/aj5HTeWlrKdrCmCDdIZIQ/UEVhLeMeDABDfjpsajLdyrkjbae3uDlU+/v08uEpW/5DKx+LmncYAVsC5X4fxWRrZ6Hq+a2e4KQNhbsJaoFkqWW96evT+u/lzsj5L6V3F2STzTxmNrHx+s27AS2576KgbQLZoIY8X5WPH0YSeQhQux7iJ2MgvizC3X4xkqlk12yrTiB9ZiFF/gZB2bsyc39g76jTvNV20v7akHRFk/P/hFd/RC/Q4ABDZX0Pnh/9LpZ5P/k3B8q28VYOOElmadaH8KP4b0tCmx6sAo/O8SFY00vbW6dMIZgH8fGv+O0bxtgs3y2JWl7zzuSqIt7hJsV5Qfu2uOCBQWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0142rETWYa6H5ZMa996X7RES",
      "input": {
        "note": "Teddy is held in the jaws; the safe's red interior appears to the arm's right in the wrist view, so I'm moving right and slightly forward to hover over the safe opening.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.27,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0142rETWYa6H5ZMa996X7RES",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7727, 1.9511, 1.9446, -0.9695, -0.5743, -0.5789, 0.2023, -0.0212, 0.8062, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4173 left_y=-0.2678 left_z=0.2348 left_yaw=0.0147 left_pitch=-0.1952 left_roll=0.0863 left_gripper=0.2023 right_x=0.2744 right_y=0.0013 right_z=0.1493 right_yaw=0.0002 right_pitch=-0.132 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.7556, 8.5949, 1.072, -0.5836, 0.0855, 0.2125, -0.0342, -1.388, 7.0769, 1.8632, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fed4731f324ac65eda6de9c1cf18690fc9fe8f5eb2330b4d3fde0d3e83c46e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45656d946170e897b2a4c10f2ba080daf815bf94fa238adb0df70e5da38f78f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49ac40420879f5f7178e577f828b0ce2eae741f303860da8a829784af1c5e3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.072 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.8549, 0.754, 0.2756, -0.5022, -0.4057, 0.1985, -0.0212, 0.8024, 0.6067, -0.4782, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.388 left_y=-0.162 left_z=0.009 left_yaw=0.0162 left_pitch=-0.1251 left_roll=0.0736 left_gripper=0.1985 right_x=0.2815 right_y=0.0011 right_z=0.1593 right_yaw=-0.0 right_pitch=-0.0824 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -9.6752, 5.4632, 1.3602, -0.1783, 0.0024, 0.6422, -0.0752, -1.2376, 7.2137, 1.8535, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.5513, 1.2606, -0.5812, -0.4999, -0.4175, 0.2002, -0.0212, 0.8036, 0.606, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3883 left_y=-0.1626 left_z=0.191 left_yaw=0.0249 left_pitch=-0.1632 left_roll=0.0909 left_gripper=0.2002 right_x=0.278 right_y=0.0012 right_z=0.1545 right_yaw=0.0001 right_pitch=-0.106 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.7026, 9.4701, 1.4872, -0.2369, 0.0904, 0.1587, -0.0205, -1.306, 6.9949, 1.873, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7727, 1.9511, 1.9446, -0.9695, -0.5743, -0.5789, 0.2023, -0.0212, 0.8062, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4173 left_y=-0.2678 left_z=0.2348 left_yaw=0.0147 left_pitch=-0.1952 left_roll=0.0863 left_gripper=0.2023 right_x=0.2744 right_y=0.0013 right_z=0.1493 right_yaw=0.0002 right_pitch=-0.132 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.7556, 8.5949, 1.072, -0.5836, 0.0855, 0.2125, -0.0342, -1.388, 7.0769, 1.8632, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fed4731f324ac65eda6de9c1cf18690fc9fe8f5eb2330b4d3fde0d3e83c46e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45656d946170e897b2a4c10f2ba080daf815bf94fa238adb0df70e5da38f78f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ac40420879f5f7178e577f828b0ce2eae741f303860da8a829784af1c5e3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3QYKjgEIEhgCKkCRkyRYMgeenUtsV1ytezKhHMKgSkxzB9pjQWiY1FgVuik2q29pt10842GgkL1jRHhy2lDjNz6FljYVXXA4kfO+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcKizNUGEgxBUfnDhi58woj9SkgaDEDlnYO5FM2jnnKx6yIwp4qipYezK3dUc8C4RwgK27uj0ra3n6i9Q8firA/FsG1s0htjDGGatriyk9Wo2uADKvsEpWPghiegTcRkywPusEddbkp4HPfA3SroEnw25NaD/JcAbf17NCG0edtxJDAkKohK8LBtMECn8RahrGGpp2YcHWY86nZebKuwt6jgJJOOaoWzQesFlpQCOo76R6DNVxlnwa04Cg1YG+zvuag/f8lXVBkPBbzyAc2gpqfLnGelJlQZlc0ree4Y0etDpXDcVSASuBuClXK4Blv858WJfMysExRRTz9CfMfbr6l/PLnoQQ/A2BE7PvnPk+mJTsVYrSFQ33wtwKsGzc3hdWzO5zBZ5GEzDYoEuZga1Bpc3BgAXBjgACqYqY3L07bgSwdQQbglz8cGP093CvRqeGoLEJ/CuYWfP7w+Rf9fZDTnLkZwUD+5mWOcnGRHW4VpWAnojf2qHLtLodMWUMAbZxN+7dLi+VNmCu2RpAfwzR+ZlzRrNuzCOwSNCq6eab3gzBigAVsXotjsjEcnpB/N6bWRq06zL1XFSzMXzWO1PxQ+n/KdqfvFD1M728tgZwtAeJvWAqa8LlguTf1mFnhK2QPNi7xi016l27bLJedearDk38JMKEQFKCQI1weFlUbwo+oOPCg66ew/Cm7sU1UrekPhyWho3ZLubO0DOxI6uQj6HAS1Snn1CD8bD1vIzz8EsP4PscHQT605QaqbWiMDfCWoWs39pM0P4mUjXNibVljupzWlBHcBLO0zBj5nELv67hqET7Z54c38HnGgIyvZQ11DOIvSpcgoPi+CzljwuZks1MOE928Egbn0evJt+e6jHbN2mU0ocN4Clk4grZf5SkRtd/OzrSPFkJEL7UYWbj90hXCd0PbsdPUBsC8Kdkv3JWpRykKVx9ItONUfGXM+JWwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KD6ucWzsisKhzfNKY5RF1B",
      "input": {
        "note": "The red interior still sits to the right of the held teddy in the wrist view, so shifting 4 cm further right to center over the safe opening.",
        "targets": {
          "left_y": -0.31
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KD6ucWzsisKhzfNKY5RF1B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8326, 2.101, 2.1387, -1.084, -0.5854, -0.6422, 0.2037, -0.0212, 0.8101, 0.6056, -0.5468, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4146 left_y=-0.3054 left_z=0.221 left_yaw=0.0083 left_pitch=-0.2332 left_roll=0.0995 left_gripper=0.2037 right_x=0.2705 right_y=0.0014 right_z=0.144 right_yaw=0.0003 right_pitch=-0.1598 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.9316, 8.9368, 1.0525, -0.569, -0.0073, 0.1392, -0.1846, -0.9641, 6.8718, 1.8291, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30580cff9bfd9ce071ca9562c79727526b6bb139dd8aba0e46560badeefcb3a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59fdcf6a4a9f2fdd3863efda929c6c73ea413222f8b598b763480154efbaa0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eae5b0d551bcdbaf277746bd408075caa8b16d925d7021c3f733b25fa2ef6e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 13.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6079, 1.5513, 1.2606, -0.5812, -0.4999, -0.4175, 0.2002, -0.0212, 0.8036, 0.606, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3883 left_y=-0.1626 left_z=0.191 left_yaw=0.0249 left_pitch=-0.1632 left_roll=0.0909 left_gripper=0.2002 right_x=0.278 right_y=0.0012 right_z=0.1545 right_yaw=0.0001 right_pitch=-0.106 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -9.7026, 9.4701, 1.4872, -0.2369, 0.0904, 0.1587, -0.0205, -1.306, 6.9949, 1.873, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7727, 1.9511, 1.9446, -0.9695, -0.5743, -0.5789, 0.2023, -0.0212, 0.8062, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4173 left_y=-0.2678 left_z=0.2348 left_yaw=0.0147 left_pitch=-0.1952 left_roll=0.0863 left_gripper=0.2023 right_x=0.2744 right_y=0.0013 right_z=0.1493 right_yaw=0.0002 right_pitch=-0.132 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.7556, 8.5949, 1.072, -0.5836, 0.0855, 0.2125, -0.0342, -1.388, 7.0769, 1.8632, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8326, 2.101, 2.1387, -1.084, -0.5854, -0.6422, 0.2037, -0.0212, 0.8101, 0.6056, -0.5468, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4146 left_y=-0.3054 left_z=0.221 left_yaw=0.0083 left_pitch=-0.2332 left_roll=0.0995 left_gripper=0.2037 right_x=0.2705 right_y=0.0014 right_z=0.144 right_yaw=0.0003 right_pitch=-0.1598 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.9316, 8.9368, 1.0525, -0.569, -0.0073, 0.1392, -0.1846, -0.9641, 6.8718, 1.8291, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30580cff9bfd9ce071ca9562c79727526b6bb139dd8aba0e46560badeefcb3a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59fdcf6a4a9f2fdd3863efda929c6c73ea413222f8b598b763480154efbaa0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eae5b0d551bcdbaf277746bd408075caa8b16d925d7021c3f733b25fa2ef6e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQcKjgEIEhgCKkAUDHCwMGVt0UbPPmg6cL1ozK8cVAOhDBJoakbP7Ka6ETuvHO/42wm7/uMeoYOQl/qorEV6xdXaSX9IjiHr398wMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqizNUGEgyKatH3ug26K9opOL4aDCReaqrVczlZ9ebDwSIw3DP5gPRUnJxEL0w3vs0SqdtoPSJdWJKGetOqbxrqpp5iu2dZU94fLhFYdm4eUK0oKt8F7ZvkSU3CyvmAjCvF+gk4hFGdTruGGVw00HjS8hk7Tad+CpzLirP2u+DCKGkbt9VQYf5Ursd+wsl7Gdw0H8JQfZ+V+16EVQ0D+MacxE3/1mZuxJ3QUTsOToJZxtIy1yl/EhRzeDHLsSgWv2V+tnUUpjl4DvqFa1ExN/CykztzyHy5kbTe+toUXaNr8JRwhbL11EtSeoi++MHYwiN2biHfqF6pnQw+TtYUXUVmJDj7mssFCmi0RBP/pZaLsKhQkL2+lVAkOcHddqJ1/nR7FbWiL/dJJ3j4g3z51zGY7+hXxE/vKUFY2AIN9iHm4mleTYOT/LXKySWqCnFmxHq26c+UXRkH14RfHG9oLz65lXpQzQiwJ4ze2epkxawEc9/wbWjNQ8cwnzHrD9ZOjhxwRJyLJIWlcx5yjTU6bHIg0AgS7EgowPFW+h14kq+lNVa8naO0vVPddckNlzH8GobXNMl2r90j5QXWTeTyasSzNIDebjQPTKt88gbInAVUvyw6saBlzIO5mcVIzK9l7bFi9N21fakUbYf1ir1uHEuOXcf9gMcVtmR8lgFYkwOaBaMzzztPyUjTQ5LAyNESQ1f9oxuPJvZwsdfRW3nU4tVPPBTrvui/T5cUYsfSffqzCrijvNiyn5g6mvKhC/C6qhiyCh6MBWNITmGnheQWoyrDa0H89btbjnC9TpwAjdgEQBUUgCrqJ0V28rxo0yP3C33EvwvRdn8jYxfVsShgNLRI1Kb7K5CvCE1pZtDBuSK0DohpJTfa6piRs+Or+NDn9F1nJLEg53z5o0m2w3iLhcHmOS1KZsllUO28zqyS5gkbuvnbHbiQdlI/8KLOjloF0T1Qt13TIQhNRDv/N0Wh1qv6VyMd/UtHt5zQICNFs6PZ6SdBXYLv2JJAr8ylCUQoqBtdxSUmgHZxtWQGKcJvBkneqI71Wo+rRH+QOvismoa5z2Baqo1FoMrCbT9XYQn1M4rjn9VJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ke1PiuvtaQ81ahu1DQjuMF",
      "input": {
        "note": "Red safe interior now surrounds the held teddy in the wrist view, so I'm lowering into the opening (slightly forward) to release the teddy inside.",
        "targets": {
          "left_x": 0.435,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Ke1PiuvtaQ81ahu1DQjuMF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.659, 0.2046, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0121 left_pitch=-0.2439 left_roll=0.1069 left_gripper=0.2046 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0004 right_pitch=-0.1812 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -12.5333, 8.7043, 1.1844, -0.5788, 0.0562, 0.0708, -0.0889, -1.1556, 7.2137, 1.7802, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90fbbfcbcc216f92a23c5fc32e7085e90a0ec2590ed238cc98bf497609cdcccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7604fa455d92b5ca39570e8c0698dbd1878715722c96092bd76394d3feb3ff44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08e1d949948e483163e958cabf83e95f32f9864376fab84710dffd9989771f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 9.402 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7727, 1.9511, 1.9446, -0.9695, -0.5743, -0.5789, 0.2023, -0.0212, 0.8062, 0.6056, -0.5228, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4173 left_y=-0.2678 left_z=0.2348 left_yaw=0.0147 left_pitch=-0.1952 left_roll=0.0863 left_gripper=0.2023 right_x=0.2744 right_y=0.0013 right_z=0.1493 right_yaw=0.0002 right_pitch=-0.132 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -10.7556, 8.5949, 1.072, -0.5836, 0.0855, 0.2125, -0.0342, -1.388, 7.0769, 1.8632, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8326, 2.101, 2.1387, -1.084, -0.5854, -0.6422, 0.2037, -0.0212, 0.8101, 0.6056, -0.5468, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4146 left_y=-0.3054 left_z=0.221 left_yaw=0.0083 left_pitch=-0.2332 left_roll=0.0995 left_gripper=0.2037 right_x=0.2705 right_y=0.0014 right_z=0.144 right_yaw=0.0003 right_pitch=-0.1598 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.9316, 8.9368, 1.0525, -0.569, -0.0073, 0.1392, -0.1846, -0.9641, 6.8718, 1.8291, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.659, 0.2046, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0121 left_pitch=-0.2439 left_roll=0.1069 left_gripper=0.2046 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0004 right_pitch=-0.1812 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -12.5333, 8.7043, 1.1844, -0.5788, 0.0562, 0.0708, -0.0889, -1.1556, 7.2137, 1.7802, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90fbbfcbcc216f92a23c5fc32e7085e90a0ec2590ed238cc98bf497609cdcccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7604fa455d92b5ca39570e8c0698dbd1878715722c96092bd76394d3feb3ff44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08e1d949948e483163e958cabf83e95f32f9864376fab84710dffd9989771f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cg96zpxuUQQoysjjgTkZrV",
      "input": {
        "note": "The arm did not track the last descent command; trying a smaller downward step into the safe opening to see if it moves.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Cg96zpxuUQQoysjjgTkZrV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.6594, 0.2059, -0.0212, 0.8101, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0123 left_pitch=-0.2438 left_roll=0.1067 left_gripper=0.2059 right_x=0.2629 right_y=0.0016 right_z=0.1362 right_yaw=0.0004 right_pitch=-0.204 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.4786, 8.7043, 1.1844, -0.5739, 0.0366, 0.1294, -0.0889, -1.1556, 6.9402, 1.79, -0.0122, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c442d90cf5084bb7c505169178488848a469ba97c35e3ea99d75324c7d3d716e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daaf5fb75f9819d8cf68b089fde9e495cf59545299a9a9907b07681519335f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74d139336002f4fcf29b2675ecb56f93dabe8e6f89a9c5073e6035bc02d58372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 12.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8326, 2.101, 2.1387, -1.084, -0.5854, -0.6422, 0.2037, -0.0212, 0.8101, 0.6056, -0.5468, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4146 left_y=-0.3054 left_z=0.221 left_yaw=0.0083 left_pitch=-0.2332 left_roll=0.0995 left_gripper=0.2037 right_x=0.2705 right_y=0.0014 right_z=0.144 right_yaw=0.0003 right_pitch=-0.1598 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -11.9316, 8.9368, 1.0525, -0.569, -0.0073, 0.1392, -0.1846, -0.9641, 6.8718, 1.8291, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.659, 0.2046, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0121 left_pitch=-0.2439 left_roll=0.1069 left_gripper=0.2046 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0004 right_pitch=-0.1812 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -12.5333, 8.7043, 1.1844, -0.5788, 0.0562, 0.0708, -0.0889, -1.1556, 7.2137, 1.7802, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.6594, 0.2059, -0.0212, 0.8101, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0123 left_pitch=-0.2438 left_roll=0.1067 left_gripper=0.2059 right_x=0.2629 right_y=0.0016 right_z=0.1362 right_yaw=0.0004 right_pitch=-0.204 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.4786, 8.7043, 1.1844, -0.5739, 0.0366, 0.1294, -0.0889, -1.1556, 6.9402, 1.79, -0.0122, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c442d90cf5084bb7c505169178488848a469ba97c35e3ea99d75324c7d3d716e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daaf5fb75f9819d8cf68b089fde9e495cf59545299a9a9907b07681519335f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d139336002f4fcf29b2675ecb56f93dabe8e6f89a9c5073e6035bc02d58372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1gYKjgEIEhgCKkD8iTDrgHUSJk2kTAdld/3YXxhdrs99Opz80nQTYEMxx0zmq1tatyPs/hEZ6iZMSd/udqKE8LAfokGRgTJ9bQJ/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeKizNUGEgy18T8B1fgsU1UbbQ8aDBd/R3oOAulX8ukjXiIwu7sV0jvYbAgQ6p+QbxJz3s6egyjmvyK9De9ZdBF+7w1xZHdhMzFgHftl/tD16FOQKvQE/mq7Od/KQWFKFf0w78zlNS+G074lGw7jrKunPJPTGW61KlPWECHcEAQKT6Idromh0zjvXiLxCajz+kbPdIotrfi4GI6fYodN/5ku+mtVj9UaYDKg+xo+p2h/dPqcqFRsZqeFt8nkRwrMD1X7avQMQC25rvS/Pxh35zLNPM8nECWl6ogzMH7VraYIpURWdGW6dkmCHiAZVfo+/ptXPKaLlSDCYv3GqP57xhIlQM6ZIDXeD9iVdyMtQucrrb6xCApWVRCFeAC+15Cvmu5BUqrp/p5Deb1IiG8g6WTw+2M93iASCJG0tZiC+/e8fj/czgifesRge5+oSFCrIARFqRh5DGO9QM1dyk256B+R19uWkAc+mIlhhSCgyNd00up5FYQm5EQhZwHnB11uZ02WkJPAArOHCGEQAVWCR3kk6ngnBeQG6e9kvlr5IF6u01l6iS1OlqVUwmsNp4WFkKA83YJlmK+mbXIOxaBADIb9AvC0oxryg5ygnlxDiO+wguOiPujfl9yKgQql5gHokE0aiyM86oNHbC53o51eMbDE+03+v0+yyAdrbfr+KtGLx2BqZTYBlCOuIPNHBt0YkPlgyueyM7cdU1ydz+gOAcVi7gHDnpJtnjLE8OzApWytZxcQUViAcMFs4Ehn2Wey95Lel+NRKvVsVsDKe254IXXYp/nNqd4pjQIebneMlkHCN37y8Z3U1igBXVYdb7IOExC+9nJRq6cocdjA8ZbcEPSjXqXhzqH1CN25GKzaQeCvgkyzqFyDwNXwVXLFur509ZVM2AGEJWeqN5E1gnNCNIBgbpwex4lMEqJl49eU+HGgyjcGF1TEMemy0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LBuVA4ZXxoH9nd6hM1uZaU",
      "input": {
        "note": "The arm is stuck — no motion at all for two commands, likely jammed against the safe's open lid. Retracting toward the base to free it.",
        "targets": {
          "left_x": 0.37,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LBuVA4ZXxoH9nd6hM1uZaU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9112, 2.064, 1.9209, -1.0561, -0.5995, -0.7147, 0.208, -0.0212, 0.8158, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3723 left_y=-0.3116 left_z=0.168 left_yaw=0.0122 left_pitch=-0.315 left_roll=0.1809 left_gripper=0.208 right_x=0.2591 right_y=0.0016 right_z=0.1311 right_yaw=0.0003 right_pitch=-0.2315 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.759, 7.0359, 1.2527, -0.6178, -0.1343, 0.1978, -0.0752, -1.1692, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb264cfae4f7395410b0bd9dc62e923c2b0d67b772f1776586c68403f9faef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c349737b1c34c8db6225ad18ed6634e6f45928a9cd677e855053192ae9a651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8cff83ee7caabfb0de7bc1000060c816b171c12ab6624ed4152d24a0d7991fa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 13.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.659, 0.2046, -0.0212, 0.8101, 0.6056, -0.5682, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0121 left_pitch=-0.2439 left_roll=0.1069 left_gripper=0.2046 right_x=0.2669 right_y=0.0015 right_z=0.1402 right_yaw=0.0004 right_pitch=-0.1812 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -12.5333, 8.7043, 1.1844, -0.5788, 0.0562, 0.0708, -0.0889, -1.1556, 7.2137, 1.7802, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.6594, 0.2059, -0.0212, 0.8101, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0123 left_pitch=-0.2438 left_roll=0.1067 left_gripper=0.2059 right_x=0.2629 right_y=0.0016 right_z=0.1362 right_yaw=0.0004 right_pitch=-0.204 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.4786, 8.7043, 1.1844, -0.5739, 0.0366, 0.1294, -0.0889, -1.1556, 6.9402, 1.79, -0.0122, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9112, 2.064, 1.9209, -1.0561, -0.5995, -0.7147, 0.208, -0.0212, 0.8158, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3723 left_y=-0.3116 left_z=0.168 left_yaw=0.0122 left_pitch=-0.315 left_roll=0.1809 left_gripper=0.208 right_x=0.2591 right_y=0.0016 right_z=0.1311 right_yaw=0.0003 right_pitch=-0.2315 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.759, 7.0359, 1.2527, -0.6178, -0.1343, 0.1978, -0.0752, -1.1692, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb264cfae4f7395410b0bd9dc62e923c2b0d67b772f1776586c68403f9faef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c349737b1c34c8db6225ad18ed6634e6f45928a9cd677e855053192ae9a651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cff83ee7caabfb0de7bc1000060c816b171c12ab6624ed4152d24a0d7991fa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016iy1CHvmWgEziRF9Xk2RcH",
      "input": {
        "note": "Arm is free again; moving forward over the safe's open interior at a height that should clear the box rim, ready to drop the teddy inside.",
        "targets": {
          "left_x": 0.44,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016iy1CHvmWgEziRF9Xk2RcH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.0266, 1.9022, -1.0473, -0.6037, -0.7418, 0.2094, -0.0212, 0.8158, 0.6018, -0.6319, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3669 left_y=-0.3122 left_z=0.1798 left_yaw=0.0118 left_pitch=-0.293 left_roll=0.1421 left_gripper=0.2094 right_x=0.2549 right_y=0.0017 right_z=0.1263 right_yaw=0.0004 right_pitch=-0.2544 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -13.8325, 6.6256, 1.1551, -0.5543, -0.0415, 0.1245, -0.0615, -1.0735, 7.2274, 1.6337, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e4a2bff54f96a752083dbd764b486bdde53cfce0363167837dc26f1008b089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9bfb45147bfd350fdaa85fddcaa6e5149c06d52254029e87e6e0be08b0e3f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1799c8d3db41443f454bc5bf92854a550db78a4a11e5e9cbfe0473412e4cd295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 13.59 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8448, 2.1231, 2.1609, -1.1057, -0.5896, -0.6594, 0.2059, -0.0212, 0.8101, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4118 left_y=-0.3105 left_z=0.216 left_yaw=0.0123 left_pitch=-0.2438 left_roll=0.1067 left_gripper=0.2059 right_x=0.2629 right_y=0.0016 right_z=0.1362 right_yaw=0.0004 right_pitch=-0.204 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -12.4786, 8.7043, 1.1844, -0.5739, 0.0366, 0.1294, -0.0889, -1.1556, 6.9402, 1.79, -0.0122, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9112, 2.064, 1.9209, -1.0561, -0.5995, -0.7147, 0.208, -0.0212, 0.8158, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3723 left_y=-0.3116 left_z=0.168 left_yaw=0.0122 left_pitch=-0.315 left_roll=0.1809 left_gripper=0.208 right_x=0.2591 right_y=0.0016 right_z=0.1311 right_yaw=0.0003 right_pitch=-0.2315 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.759, 7.0359, 1.2527, -0.6178, -0.1343, 0.1978, -0.0752, -1.1692, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.0266, 1.9022, -1.0473, -0.6037, -0.7418, 0.2094, -0.0212, 0.8158, 0.6018, -0.6319, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3669 left_y=-0.3122 left_z=0.1798 left_yaw=0.0118 left_pitch=-0.293 left_roll=0.1421 left_gripper=0.2094 right_x=0.2549 right_y=0.0017 right_z=0.1263 right_yaw=0.0004 right_pitch=-0.2544 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -13.8325, 6.6256, 1.1551, -0.5543, -0.0415, 0.1245, -0.0615, -1.0735, 7.2274, 1.6337, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e4a2bff54f96a752083dbd764b486bdde53cfce0363167837dc26f1008b089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9bfb45147bfd350fdaa85fddcaa6e5149c06d52254029e87e6e0be08b0e3f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1799c8d3db41443f454bc5bf92854a550db78a4a11e5e9cbfe0473412e4cd295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RZDpCZ2wsAvhBn7ACmg2ja",
      "input": {
        "note": "Forward motion is blocked around x=0.37 — the teddy or jaws are catching on the safe. Raising higher first so I can move forward over the rim without contact.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RZDpCZ2wsAvhBn7ACmg2ja",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.2265, 2.207, -1.2629, -0.59, -0.7464, 0.211, -0.0212, 0.8165, 0.6018, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3764 left_y=-0.3279 left_z=0.1687 left_yaw=0.038 left_pitch=-0.3677 left_roll=0.226 left_gripper=0.211 right_x=0.2502 right_y=0.0018 right_z=0.1221 right_yaw=0.0009 right_pitch=-0.2803 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -15.3368, 9.1829, 0.2271, -0.569, 0.0366, 0.1587, -0.1436, -0.9504, 6.7624, 1.6484, -0.0171, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f69d7af674044eacb1fdad16db1d6b638918064e527a1ca39861398119b4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c84eb3eaf55fe90c0edf61b3af38a392de0f42a2dab9daa25a3b6d81cc36715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fb611ea2170f360ed67fcbf0f080174c4647d126f34a77873594b51434ff191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 10.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9112, 2.064, 1.9209, -1.0561, -0.5995, -0.7147, 0.208, -0.0212, 0.8158, 0.6056, -0.6128, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3723 left_y=-0.3116 left_z=0.168 left_yaw=0.0122 left_pitch=-0.315 left_roll=0.1809 left_gripper=0.208 right_x=0.2591 right_y=0.0016 right_z=0.1311 right_yaw=0.0003 right_pitch=-0.2315 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.759, 7.0359, 1.2527, -0.6178, -0.1343, 0.1978, -0.0752, -1.1692, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.0266, 1.9022, -1.0473, -0.6037, -0.7418, 0.2094, -0.0212, 0.8158, 0.6018, -0.6319, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3669 left_y=-0.3122 left_z=0.1798 left_yaw=0.0118 left_pitch=-0.293 left_roll=0.1421 left_gripper=0.2094 right_x=0.2549 right_y=0.0017 right_z=0.1263 right_yaw=0.0004 right_pitch=-0.2544 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -13.8325, 6.6256, 1.1551, -0.5543, -0.0415, 0.1245, -0.0615, -1.0735, 7.2274, 1.6337, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.2265, 2.207, -1.2629, -0.59, -0.7464, 0.211, -0.0212, 0.8165, 0.6018, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3764 left_y=-0.3279 left_z=0.1687 left_yaw=0.038 left_pitch=-0.3677 left_roll=0.226 left_gripper=0.211 right_x=0.2502 right_y=0.0018 right_z=0.1221 right_yaw=0.0009 right_pitch=-0.2803 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -15.3368, 9.1829, 0.2271, -0.569, 0.0366, 0.1587, -0.1436, -0.9504, 6.7624, 1.6484, -0.0171, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f69d7af674044eacb1fdad16db1d6b638918064e527a1ca39861398119b4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c84eb3eaf55fe90c0edf61b3af38a392de0f42a2dab9daa25a3b6d81cc36715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fb611ea2170f360ed67fcbf0f080174c4647d126f34a77873594b51434ff191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GUcVrTiir7QseW5ZhvDPJL",
      "input": {
        "note": "The wrist view shows the red safe interior and its silver rim off to the right of the held teddy, so I'm shifting further right and up to get above the opening.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.38,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GUcVrTiir7QseW5ZhvDPJL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9939, 2.3863, 2.6129, -1.5597, -0.5888, -0.8093, 0.213, -0.0212, 0.8185, 0.6018, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3516 left_y=-0.3539 left_z=0.1958 left_yaw=0.0185 left_pitch=-0.3886 left_roll=0.2314 left_gripper=0.213 right_x=0.2466 right_y=0.0019 right_z=0.1187 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -16.3761, 5.2308, 0.6667, -0.5543, -0.0317, 0.1929, -0.0205, -0.841, 6.735, 1.6142, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171ae1176d7b9f6e4e729e867685d465caeb4bbc01a80eb1facb4012848b3b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb71fe6476e520be20225fd8061994863618057947640362d90174d67dbea5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8d22b6601b2610896198ee2c366e3df62f876fe90f27084c45db1d42bfa3907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 16.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.0266, 1.9022, -1.0473, -0.6037, -0.7418, 0.2094, -0.0212, 0.8158, 0.6018, -0.6319, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3669 left_y=-0.3122 left_z=0.1798 left_yaw=0.0118 left_pitch=-0.293 left_roll=0.1421 left_gripper=0.2094 right_x=0.2549 right_y=0.0017 right_z=0.1263 right_yaw=0.0004 right_pitch=-0.2544 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -13.8325, 6.6256, 1.1551, -0.5543, -0.0415, 0.1245, -0.0615, -1.0735, 7.2274, 1.6337, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.2265, 2.207, -1.2629, -0.59, -0.7464, 0.211, -0.0212, 0.8165, 0.6018, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3764 left_y=-0.3279 left_z=0.1687 left_yaw=0.038 left_pitch=-0.3677 left_roll=0.226 left_gripper=0.211 right_x=0.2502 right_y=0.0018 right_z=0.1221 right_yaw=0.0009 right_pitch=-0.2803 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -15.3368, 9.1829, 0.2271, -0.569, 0.0366, 0.1587, -0.1436, -0.9504, 6.7624, 1.6484, -0.0171, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9939, 2.3863, 2.6129, -1.5597, -0.5888, -0.8093, 0.213, -0.0212, 0.8185, 0.6018, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3516 left_y=-0.3539 left_z=0.1958 left_yaw=0.0185 left_pitch=-0.3886 left_roll=0.2314 left_gripper=0.213 right_x=0.2466 right_y=0.0019 right_z=0.1187 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -16.3761, 5.2308, 0.6667, -0.5543, -0.0317, 0.1929, -0.0205, -0.841, 6.735, 1.6142, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171ae1176d7b9f6e4e729e867685d465caeb4bbc01a80eb1facb4012848b3b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb71fe6476e520be20225fd8061994863618057947640362d90174d67dbea5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d22b6601b2610896198ee2c366e3df62f876fe90f27084c45db1d42bfa3907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgsKjgEIEhgCKkApvZHW7VHlLH9XDeotTVhiYcMugleyt/TD1B3Y7BZW6O0MBD/3xYRmvLxu0DSrf1AvR8RFBf1oze6Jx5yKK7dHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZejzNUGEgyJWZRoV/oqxT67eloaDACah+ECVwF1iMMCISIwHhtIYNW/SujdNyyRRdrz72YsbdyvymJL3X5SJZGHri9Q4+3/Lxf6Vi2Da4pafXq3KsQJdljvQC11FF2bxtLdQz+XssYllAtPNxRyxzW6oqZKe6E2eh33E7ROstBP+hVmpIQ87x+A4mzgU2FyMIkVXq51sVGoKFZ4XPY8nBgggbKuU7K5u20VTM8x5vunN3s6tRcBqXhWmBfGeSPRJTiB6mvPf7rc3ump2L/ICdOviueD82Cb9jXTnw2u8fJcDnhtCuwzbzfLbai0S89veDrSCxhwsaHDpUmvbHq4eXNCnKmVT59DcyOCU/XkagWgZ5I2xNWe6I5EaKSLDzCByqtZv3qstFEdHpZs11aOZfCFT30NluSlCwNl2g106Pw8P/zx59iJm1+nmjg0tqCtySEf2uVVuLXMoQQjXYaC53CGId9mbUcbMqlB1+nz2muuDZ/srIZkAGJMdrwkiMd5Hi3tq1ScyRSywFqQgUQbsMYTtpB9wDINfgPqlTmG+PPX3VMjzRPiI48qatBs4mRhkU+044760gfz5XgOGXRvbnBd7f+YK+uNWyObsEykyHDT4l+1Cy84yhsgghzA451HSRrot7Viml4RZRRiK9AL7dxHjo+reYDhVs0vyaoJ66foE6L4ds6fVxP69K7flgKt/1CdwEfe0Mws8uuvj8IqqedYJHcIE4xY8/jZ/oL/W6yf4JzoReAJ/g9TjpV1ylIbO2E8Txfb2g6OE/8e+y5XP6Okpqit7Wj///ENoRjwT871UzJIvGdhXnLFLrLmoszHPwNZwLOP0I8a+RnQBAmOwzI+D/jglPfe8hGiIS28kbx+NqPb4HgOnXTfjlo5D/r8cFNNZKXH5auhjinwpfe/q5qGnFnMP7HNxF7R541+Cr6NoVi3FQG3eT9CaatNq6H8Xcvv2+im8w/eelOTgJhy//i8kKR6Q2UwRSMTc1GfNAvPETVuDpAnE0sMyHBCjrLKrR6cAeN7qbxwi9iR4dOKoP63/I65QinU72cFtZs+4k7I9Xj9jDaFKSuQIYF2O5NAuFV/fRsJYERDUD2SuRvlBC1JeObaxdeIYQP5FJS2QwXNj8mMwwSHS3+MFfPjlooOWdFW4mVj8CA7b+3Au/4aX0GliZerJB5dUAVqhwtRgMBouuE3ED22j0H/PzqgRol4BxcMyNfJxuE14b4nWCF2TiYt1ooRWNWaQ683GmpAlnCNeWvRpCYYnZDDx9AVNNCCLpIiR1gPQlhgm4O9MV4Az82w5kGbUS2otQl/U9RqrUwfxSRCJ24B26Xj2djbZpQSSgG86YuzJQAO0eBDMFFuFPeZpmWIuLcmwhT1M5C64/M8W3QXdtM5ZeiqTiU8rOgEKCDd6qj+o2ptTNCXqdc21Rd5XMZF0CuocXS7vMZQzEnBhbno/Q0F0ZmVbH3dxF8XlqhHi0XplzrixkHNNWqXOr0iHQ9sDBVdCJvZgQZVLJV8YZfq1vYL8Teh/VBDivp4SS4jG6s7MRpEvvIQpmvIiwSblfP0Dx8QdfFc2EbWhf0EE7z0GR6oxBQAieac3/RyJdUG6OCxwedkZn7IwiL5EZW/ChrAeSGSFfnCG4NtfDYRQFUNyHW6a/1+4213Ht3bMuFmRlLKItSGBL/mqKN/wod0AUcjycIrSvY3UnDHn5Do73eMuAzRYG+Kmm7U+WPBbe3+N7skDKAqo7kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017f8YMivpY4NYUXDYwtufSN",
      "input": {
        "note": "The teddy is hanging directly over the safe's red interior; releasing it to drop into the case.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017f8YMivpY4NYUXDYwtufSN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9943, 2.3863, 2.6034, -1.5715, -0.5804, -0.8173, 0.9952, -0.0212, 0.8185, 0.601, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3487 left_y=-0.352 left_z=0.1918 left_yaw=0.0267 left_pitch=-0.4058 left_roll=0.2415 left_gripper=0.9952 right_x=0.2457 right_y=0.0019 right_z=0.1178 right_yaw=0.001 right_pitch=-0.3059 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.8479, 6.106, 0.7595, -0.4322, 0.0269, -0.0855, -0.0205, -0.9094, 6.9675, 1.3993, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917ff9b82942dff16814e2da881fc2b1a1651cbddfb371b2efac65f2271fab1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045fd65c80eb307e5479af7d5259316569b743db8f643b171c2744e36248e374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ebb82cbf5a64b9b834da8e8c183fe268df1eba4a0c5dd41cb2a2e901881fd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 5.839 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9222, 2.2265, 2.207, -1.2629, -0.59, -0.7464, 0.211, -0.0212, 0.8165, 0.6018, -0.6571, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3764 left_y=-0.3279 left_z=0.1687 left_yaw=0.038 left_pitch=-0.3677 left_roll=0.226 left_gripper=0.211 right_x=0.2502 right_y=0.0018 right_z=0.1221 right_yaw=0.0009 right_pitch=-0.2803 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -15.3368, 9.1829, 0.2271, -0.569, 0.0366, 0.1587, -0.1436, -0.9504, 6.7624, 1.6484, -0.0171, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9939, 2.3863, 2.6129, -1.5597, -0.5888, -0.8093, 0.213, -0.0212, 0.8185, 0.6018, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3516 left_y=-0.3539 left_z=0.1958 left_yaw=0.0185 left_pitch=-0.3886 left_roll=0.2314 left_gripper=0.213 right_x=0.2466 right_y=0.0019 right_z=0.1187 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -16.3761, 5.2308, 0.6667, -0.5543, -0.0317, 0.1929, -0.0205, -0.841, 6.735, 1.6142, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9943, 2.3863, 2.6034, -1.5715, -0.5804, -0.8173, 0.9952, -0.0212, 0.8185, 0.601, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3487 left_y=-0.352 left_z=0.1918 left_yaw=0.0267 left_pitch=-0.4058 left_roll=0.2415 left_gripper=0.9952 right_x=0.2457 right_y=0.0019 right_z=0.1178 right_yaw=0.001 right_pitch=-0.3059 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.8479, 6.106, 0.7595, -0.4322, 0.0269, -0.0855, -0.0205, -0.9094, 6.9675, 1.3993, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917ff9b82942dff16814e2da881fc2b1a1651cbddfb371b2efac65f2271fab1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045fd65c80eb307e5479af7d5259316569b743db8f643b171c2744e36248e374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ebb82cbf5a64b9b834da8e8c183fe268df1eba4a0c5dd41cb2a2e901881fd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016jXA8zKQkQ8rEp3Vmzku3L",
      "input": {
        "note": "The teddy fell short of the box — it landed on the brown bear just outside the case, and the wrist view shows the red interior is farther forward than I thought. Levelling the tool and dropping down to re-grasp the white teddy.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.37,
          "left_y": -0.345,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_016jXA8zKQkQ8rEp3Vmzku3L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.1601, 1.6405, -0.6701, -0.8761, -0.7265, 0.9963, -0.0212, 0.8185, 0.601, -0.6918, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3392 left_z=0.092 left_yaw=0.0249 left_pitch=-0.0927 left_roll=0.3076 left_gripper=0.9963 right_x=0.2434 right_y=0.0019 right_z=0.116 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -15.6513, 5.9692, 1.1111, -0.6667, 0.0513, 0.1001, -0.0342, -1.0735, 6.7077, 1.4872, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d9d21428ecb97d58621044839f294c30e163e37d30dc5dfa2219fd7cb39602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb16d3c92f01b0c40a2b5171594ccc3649a2f78515de08632095d3026ebd988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27c1c4b96c02455840cc316f79496734d773c13dd72123b2916ad2962b40978b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 6.41 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9939, 2.3863, 2.6129, -1.5597, -0.5888, -0.8093, 0.213, -0.0212, 0.8185, 0.6018, -0.6762, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3516 left_y=-0.3539 left_z=0.1958 left_yaw=0.0185 left_pitch=-0.3886 left_roll=0.2314 left_gripper=0.213 right_x=0.2466 right_y=0.0019 right_z=0.1187 right_yaw=0.001 right_pitch=-0.3013 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -16.3761, 5.2308, 0.6667, -0.5543, -0.0317, 0.1929, -0.0205, -0.841, 6.735, 1.6142, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9943, 2.3863, 2.6034, -1.5715, -0.5804, -0.8173, 0.9952, -0.0212, 0.8185, 0.601, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3487 left_y=-0.352 left_z=0.1918 left_yaw=0.0267 left_pitch=-0.4058 left_roll=0.2415 left_gripper=0.9952 right_x=0.2457 right_y=0.0019 right_z=0.1178 right_yaw=0.001 right_pitch=-0.3059 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.8479, 6.106, 0.7595, -0.4322, 0.0269, -0.0855, -0.0205, -0.9094, 6.9675, 1.3993, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.1601, 1.6405, -0.6701, -0.8761, -0.7265, 0.9963, -0.0212, 0.8185, 0.601, -0.6918, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3392 left_z=0.092 left_yaw=0.0249 left_pitch=-0.0927 left_roll=0.3076 left_gripper=0.9963 right_x=0.2434 right_y=0.0019 right_z=0.116 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -15.6513, 5.9692, 1.1111, -0.6667, 0.0513, 0.1001, -0.0342, -1.0735, 6.7077, 1.4872, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d9d21428ecb97d58621044839f294c30e163e37d30dc5dfa2219fd7cb39602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb16d3c92f01b0c40a2b5171594ccc3649a2f78515de08632095d3026ebd988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27c1c4b96c02455840cc316f79496734d773c13dd72123b2916ad2962b40978b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS7wQKjgEIEhgCKkAa0enoLLsn2konxgDIgv+WOvVe15kdASN2hKz27ZU5ODXHNwhiBMuEQPCd4gkAM939693ZhvtJCQE1d6CPYGeXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+jzNUGEgxmL99wjX6hOSF6ntkaDD4nJPB334+Qgl9r1yIw5TC3xZTyDfp3onFkUrVXOnOYWEJbDfYP/CPm9JV5ylh77aVr0PEuu6K6lz5ua3S1Ko0DHJLOEZauNBOtX3cnOXbdQcXxg9ZhpZTeyJHB28m7YNt3X4FEJ/WdkJQE/p0Qwm8o97rKujknX7TPWjNYAX9VsS5Qk51Wt+1hT+aF+f+Ih3x4ozlJvZaE33jVJlzpUzMt/DHPpL5EmpAxW3TI4D0XCtqAcGETn3ltcdrD8TZbtwN3V5VquPDcavbGnPfD54rTFSwyG0QAJiGAWXWy2n9I0WpNd+7+NZEe62JKE/4tinAvNv3enw9WycaRdbiHUK2ou0xKpFFUXNjppVhbBzVSQuMAmda1+PvNv620lk5btgT4Sg2YlemjSXYfYTKNFfqsQYMRuRMOeUv3juu8q/uxUXjaAEw4s5jMQM8pzzuKH9hCvatlpblIstPziVJhpMfI9FjkFRBrqsUFP6fu9914/jdwci9qv5Li5d+G5jxSPjdokBVMhZMUueWAbPAjSdfqPeq1rGWnM6tPibqcbD2mKreZ9TTla41UpnNpqpQwwLqjQFwB24pWAuAQgL0T1M04h483ajVlxmn3DW8yWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RFnLVRv8oSxPqriTP4TF95",
      "input": {
        "note": "White teddy is centered under the jaws in the wrist view; descending onto it.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RFnLVRv8oSxPqriTP4TF95",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2116, 1.5566, -0.5301, -0.8742, -0.7212, 0.9964, -0.0212, 0.8185, 0.601, -0.7025, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3396 left_z=0.0522 left_yaw=0.0209 left_pitch=-0.0929 left_roll=0.3069 left_gripper=0.9964 right_x=0.2414 right_y=0.002 right_z=0.1144 right_yaw=0.0012 right_pitch=-0.3284 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -10.7419, 5.6, 0.8864, -0.5153, -0.0366, 0.0024, -0.0205, -0.9504, 6.8855, 1.4823, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:734e15adadbd9fa49fd684e63c2ecdf8f487866c06810389207b1a637632e36d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e928a7259efea563bc3435ead61ccf46cf24c2c0fad4f064d49074aee95240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3fbe544a4e4b40456bf719ba5f0ac41c229d9a26fcde71b4efdf20b5865778aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 7.141 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9943, 2.3863, 2.6034, -1.5715, -0.5804, -0.8173, 0.9952, -0.0212, 0.8185, 0.601, -0.68, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3487 left_y=-0.352 left_z=0.1918 left_yaw=0.0267 left_pitch=-0.4058 left_roll=0.2415 left_gripper=0.9952 right_x=0.2457 right_y=0.0019 right_z=0.1178 right_yaw=0.001 right_pitch=-0.3059 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.8479, 6.106, 0.7595, -0.4322, 0.0269, -0.0855, -0.0205, -0.9094, 6.9675, 1.3993, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.1601, 1.6405, -0.6701, -0.8761, -0.7265, 0.9963, -0.0212, 0.8185, 0.601, -0.6918, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3392 left_z=0.092 left_yaw=0.0249 left_pitch=-0.0927 left_roll=0.3076 left_gripper=0.9963 right_x=0.2434 right_y=0.0019 right_z=0.116 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -15.6513, 5.9692, 1.1111, -0.6667, 0.0513, 0.1001, -0.0342, -1.0735, 6.7077, 1.4872, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2116, 1.5566, -0.5301, -0.8742, -0.7212, 0.9964, -0.0212, 0.8185, 0.601, -0.7025, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3396 left_z=0.0522 left_yaw=0.0209 left_pitch=-0.0929 left_roll=0.3069 left_gripper=0.9964 right_x=0.2414 right_y=0.002 right_z=0.1144 right_yaw=0.0012 right_pitch=-0.3284 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -10.7419, 5.6, 0.8864, -0.5153, -0.0366, 0.0024, -0.0205, -0.9504, 6.8855, 1.4823, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:734e15adadbd9fa49fd684e63c2ecdf8f487866c06810389207b1a637632e36d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e928a7259efea563bc3435ead61ccf46cf24c2c0fad4f064d49074aee95240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fbe544a4e4b40456bf719ba5f0ac41c229d9a26fcde71b4efdf20b5865778aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQUKjgEIEhgCKkCGiCVW6J4ivyFWRRuF2E9Fv+Z3G6eFApuGHEg6rCZx5J0lRQKlxS17DzxjfXwB+3AELqMNOXEaFA+FiT8/UjwSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWjzNUGEgzDCEXRuM/9CObqMiQaDOHOHHWqnFJ56GyrSiIwrBVZAZraKX+6F2C8JeutNahWUbdWaMseBqiFcRo5ORykbTlCjaIY7/3rtdLf0x+2KqMDXx/K80Mr8+XAPwGLAOBQP8o7qk8A8hQ/f0Sq8KWknzsFoCd1nSd8ngg/CLOuqjjUV94kkScrw6tCq04Q0bS1f8NTpnf5Qr3uA40Zd7KaoW3bVAfgfflczoZURnvTnoNhDlag+gEdzkmAUwGVN2N5zp+ANwct9ZHZ4Rk7MqxoYP+m5C3h/B232NnqQQ2vXQcv3+vRatD2TJAwv0n6wKXk0w/bQyzPC3+NyIYKmNjhnxz/Tj48P+G4m0LaGJvJokK2HBma7x56Yz9W+BYELUt7CtOdgL0snkrorRrLQGpA3vA8vXwcCzyPdkFIWIpiaYXdCySxn5QV62SxEZQGgxRYKW6UECVEl1UVDzZR4tsgxy8BVLFGPw9wafg9VdYrostljiX5yYUIu50z57c8mZkmWwTOwCztN53LlInw7pobw+fNYxdpzPgIKzuUuSFeXstlJfBYgXhkwTlu+kVWSauZMQRkFI2/2Z3fGUvqN0jjKNHtS0iNFJpFZi4EQ9TX/jACMnTO1xD+K3I0P5xCoFDxgHs2Dgak3BI4azaffysEjAH5Ki0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KP6gumqB3vmMahYV6aCfLq",
      "input": {
        "note": "The teddy sits slightly left of and below the jaw column, so nudging left and back toward the base to center it before closing.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.322
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KP6gumqB3vmMahYV6aCfLq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5011, -0.8722, -0.7265, 0.9965, -0.0208, 0.823, 0.601, -0.7101, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3399 left_z=0.0427 left_yaw=0.0229 left_pitch=-0.0938 left_roll=0.3022 left_gripper=0.9965 right_x=0.2399 right_y=0.0021 right_z=0.1122 right_yaw=0.0013 right_pitch=-0.3406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5761, 5.6, 0.9206, -0.4322, -0.0366, -0.0073, -0.0752, -1.4154, 6.694, 1.3944, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:701d97653d0701d478966ae7de3a6bf88a84ed7ee502a48e3d8fc99c741c9fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b2065daa1ee4e51a96c9310b4e56d104ab7e93c53ee538c6e4f235228317c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b102ee8061ce778ad9d49ddd792c947a63052babd7d42fad9b0d79467af445f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 8.108 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.1601, 1.6405, -0.6701, -0.8761, -0.7265, 0.9963, -0.0212, 0.8185, 0.601, -0.6918, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3392 left_z=0.092 left_yaw=0.0249 left_pitch=-0.0927 left_roll=0.3076 left_gripper=0.9963 right_x=0.2434 right_y=0.0019 right_z=0.116 right_yaw=0.0008 right_pitch=-0.3177 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -15.6513, 5.9692, 1.1111, -0.6667, 0.0513, 0.1001, -0.0342, -1.0735, 6.7077, 1.4872, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2116, 1.5566, -0.5301, -0.8742, -0.7212, 0.9964, -0.0212, 0.8185, 0.601, -0.7025, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3396 left_z=0.0522 left_yaw=0.0209 left_pitch=-0.0929 left_roll=0.3069 left_gripper=0.9964 right_x=0.2414 right_y=0.002 right_z=0.1144 right_yaw=0.0012 right_pitch=-0.3284 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -10.7419, 5.6, 0.8864, -0.5153, -0.0366, 0.0024, -0.0205, -0.9504, 6.8855, 1.4823, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5011, -0.8722, -0.7265, 0.9965, -0.0208, 0.823, 0.601, -0.7101, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3399 left_z=0.0427 left_yaw=0.0229 left_pitch=-0.0938 left_roll=0.3022 left_gripper=0.9965 right_x=0.2399 right_y=0.0021 right_z=0.1122 right_yaw=0.0013 right_pitch=-0.3406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5761, 5.6, 0.9206, -0.4322, -0.0366, -0.0073, -0.0752, -1.4154, 6.694, 1.3944, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:701d97653d0701d478966ae7de3a6bf88a84ed7ee502a48e3d8fc99c741c9fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b2065daa1ee4e51a96c9310b4e56d104ab7e93c53ee538c6e4f235228317c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b102ee8061ce778ad9d49ddd792c947a63052babd7d42fad9b0d79467af445f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQYKjgEIEhgCKkDAbY+Ck/iU01cU5/9unN2rDTjP02b6IdYxE0uV7XgzctSrEoYipghuOxRswHuopveCjdcIyZPgbZM5p4i1SDUqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb2jzNUGEgwj6/pG+GIzcmZlOyAaDDuQ2Gj2VbTVyzvN+iIwusgzacfFe5Ia9MusIb/CfhGMWwJcgKFijOS+VsZPerxckGK9EO4oYS6kKBlVkvKbKusEfg1pyIH4uYgZT9JvXdUBrOXN4ZXVQV1nKuozqKvoai4uskDTYtyIcNTesYIaDya9XGW+iN+RN2iXLrYIdbZx98XWzVlizAlsgWJmzMVW2N0Bk9weWWU3t6OWLf7nFvs6eAU96Nc2tWXW70Y08us+IuQ8H+LA+0a9g1i+Lp5LS8XFbU1XD0afzBw/eibvvOPzgh2oiR4TCr88249gFywUlfe7pojw3qISiqhQP0Eds8E6LSpjDU0uUbHWAyTS7if9Fgw8/goyWjTUvGGEOlQK2goWSwXZTkrr5GEeaqCMsenHLCi7banajhgZrCCz0wINxsAoE5m5JAmyhTNs8MtZ9ezhsAXXH3gp2bc8+kxiUo6oPo1jSWZENK70+be9Sj9mEklWBF5gGxCNNW9bgiz3+yW4g5CJPP2KT0DuuAYzpEeCjEsuG7RG9Ekj5CaD+/E7/xiYGdPL71b/gUAzqWokew1Ml6y0uICgRi9L78pALJm139sNKT+InXkraVY7+LL57RMdniCPyisZf4Mwx7W1X5nDGBEpk66lcZKLfkOaRcn0I8ivM0M9EYvYCHo79yb28e8wuy12ziFzkcq/XYG8bsbH8O5+OilfgQA3NOtoxFkHkhdYe20obSp5Xw5V+jeIn31AO/iSSPBGQ6g4TL8tCyQTzwG+esg7lIb/H8avYBjOA3ebD3I4C8nDjtbrvEolpXiC37SUgv8Gxt9ergF7M2c4KQwEiqk4k+y96u0nWOfhBRby8c1SghrwN8EXouRVeuHI9qt8yzosdPfGX029FlBKpc8hxgqtf94Y4Z0IkRy6Qa1LFYQIcK4JWRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BcQcpzXTVc3oKf3CZ28pVD",
      "input": {
        "note": "The teddy now fills the jaw area at the bottom of the wrist view; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BcQcpzXTVc3oKf3CZ28pVD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5018, -0.8722, -0.7334, 0.2076, -0.0212, 0.823, 0.601, -0.7246, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3398 left_z=0.0426 left_yaw=0.0266 left_pitch=-0.093 left_roll=0.2974 left_gripper=0.2076 right_x=0.237 right_y=0.002 right_z=0.1101 right_yaw=0.0011 right_pitch=-0.3551 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -12.2051, 5.9692, 0.9255, -0.4664, 0.0513, 0.8669, -0.0479, -1.0735, 6.6667, 1.4579, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943de621f8b5b043a933f7cafe2d6b50be4d67f94d33ac01366b76940c89b757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72d4d1082a58c88e4db1e8cce33c62027f5ebdf691797a055a8f0b5fad8b6bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53ef55ecb2d8cd466f822f9b828d366275f9a37d7968fd45fbf947b1c9ae30b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.161 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2116, 1.5566, -0.5301, -0.8742, -0.7212, 0.9964, -0.0212, 0.8185, 0.601, -0.7025, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3635 left_y=-0.3396 left_z=0.0522 left_yaw=0.0209 left_pitch=-0.0929 left_roll=0.3069 left_gripper=0.9964 right_x=0.2414 right_y=0.002 right_z=0.1144 right_yaw=0.0012 right_pitch=-0.3284 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -10.7419, 5.6, 0.8864, -0.5153, -0.0366, 0.0024, -0.0205, -0.9504, 6.8855, 1.4823, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5011, -0.8722, -0.7265, 0.9965, -0.0208, 0.823, 0.601, -0.7101, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3399 left_z=0.0427 left_yaw=0.0229 left_pitch=-0.0938 left_roll=0.3022 left_gripper=0.9965 right_x=0.2399 right_y=0.0021 right_z=0.1122 right_yaw=0.0013 right_pitch=-0.3406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5761, 5.6, 0.9206, -0.4322, -0.0366, -0.0073, -0.0752, -1.4154, 6.694, 1.3944, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5018, -0.8722, -0.7334, 0.2076, -0.0212, 0.823, 0.601, -0.7246, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3398 left_z=0.0426 left_yaw=0.0266 left_pitch=-0.093 left_roll=0.2974 left_gripper=0.2076 right_x=0.237 right_y=0.002 right_z=0.1101 right_yaw=0.0011 right_pitch=-0.3551 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -12.2051, 5.9692, 0.9255, -0.4664, 0.0513, 0.8669, -0.0479, -1.0735, 6.6667, 1.4579, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943de621f8b5b043a933f7cafe2d6b50be4d67f94d33ac01366b76940c89b757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72d4d1082a58c88e4db1e8cce33c62027f5ebdf691797a055a8f0b5fad8b6bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53ef55ecb2d8cd466f822f9b828d366275f9a37d7968fd45fbf947b1c9ae30b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQcKjgEIEhgCKkAd6YUdn7AZwUTEUhygCi4S8Ti7JofadUKgslm7I2MTmwaxB/3lEI3gsRlOXLwdz50qMCWgQcPRTxX3UqiKga6KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWjzNUGEgzZCMFf+7ySpvojsdwaDLrppDMuA68Ms4+MdSIw0aAhnAl+6ourr22BLhFaSSUXk108MSBiY76v1vxsGxaWI54KAudM3oJ/pDShify8KqsF7gl0STz/2ft4hGGOvJ1IjrEb1PGcuOoM8c209uOlu/4E7NCujFlZe0C9EIGXm9+eBhBH17slR3hKETyo7lqY9QyvzZvYDfaaiPP+52/HvoiM5ISrkZNbgsjkMcHIiFjbzjRU3jrni9pftcWE4We/9z8rJqoW8sllNJLrOmGZk3spGcd1lcLfl1FB2GsXRdL+QLyj9rmuNHLYLAunp1wrkuqefQ8LlY5tf+6slfG3IbQeFNhVjCqkAhjx8/x9rrSWxyFhYJ6tJOtLy0/YCTdP7ksh8OwjuOPtTclIWeRGzl8iI3Q4kk54mKrJexk9HOYjvqbnCJJfQQg7tkHrba0WgivTQy+GA1QRIibYlsK327lENbeFUmFxhyyJaee8EVoCb3N1380ZikRE1js7Hd+zFlrCSRa9OEgDmBtyX6IBMsBtWdNAdPrqa5ZDS5t30Dx0St+zod3x1lsaW9LqpjbWK/IkC4SPGHrTMc5I4SzHh27RIxUCYPXRNURvlzULZTWbUKusA862a+TSdeBgquyATc0lXHOEGiTR9r2Ka/CO2hMldR5xL3a64tQm9VWuy5uOeKwgSD/oI+7Cjwjl3Sc0bWXQrFxX0F9cbUW7VOsgPmrgayYMppiRxKcEe+CkktxGKiZO26Mtmsd5Lpqq3ywDZPlwvAvjQf1s4CsUxPCCMtgiOHIjCtB5VihZ6qJLgUr2bznqvk7MLVQ8YTJHu7wjkLKnUD6+Zc7gYJsAYWio2UiStmwkH6bIuqEmlrBLWEUk0B6y3Io5XhAatOpQIq73Pg5PQATqHX7PgjY5rgmN4HkGKIyMDb5w6DnhKWlD/L7os6pHw58lVzzlIm4T572la1jMsKlEOnpzSU2tmE5RPigkQ1jXJ8YKZDkz+RfDGccFgoxz/vLOyg4SkgUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014y8eoF6n3YLM5v7SBcUhBV",
      "input": {
        "note": "Teddy grasped again (gripper 0.21). Lifting well above the safe's front rim before moving forward over the opening.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_014y8eoF6n3YLM5v7SBcUhBV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0344, 2.1578, 1.9659, -1.0199, -0.8577, -0.7456, 0.2109, -0.0212, 0.8242, 0.601, -0.7326, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3649 left_y=-0.3453 left_z=0.1703 left_yaw=0.0297 left_pitch=-0.1152 left_roll=0.3037 left_gripper=0.2109 right_x=0.2353 right_y=0.0021 right_z=0.1087 right_yaw=0.0013 right_pitch=-0.3642 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -14.612, 8.294, 0.9353, -0.5885, 0.0806, 0.3394, -0.0889, -0.7179, 6.6667, 1.3895, -0.0611, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d9963e9c1bb8e8f4fc0a47aee3b64652abe2fcdbbc5b620298971c95bef5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a45d3dcfbcde6dd1199a33ccf8911d8546a3c93c5a47062c991f3c58e1b294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f7ab303829c7528de2966f1b5e593b8e2f0acee0b4e97211bd4179d7a228c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 11.59 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5011, -0.8722, -0.7265, 0.9965, -0.0208, 0.823, 0.601, -0.7101, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3399 left_z=0.0427 left_yaw=0.0229 left_pitch=-0.0938 left_roll=0.3022 left_gripper=0.9965 right_x=0.2399 right_y=0.0021 right_z=0.1122 right_yaw=0.0013 right_pitch=-0.3406 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5761, 5.6, 0.9206, -0.4322, -0.0366, -0.0073, -0.0752, -1.4154, 6.694, 1.3944, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5018, -0.8722, -0.7334, 0.2076, -0.0212, 0.823, 0.601, -0.7246, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3398 left_z=0.0426 left_yaw=0.0266 left_pitch=-0.093 left_roll=0.2974 left_gripper=0.2076 right_x=0.237 right_y=0.002 right_z=0.1101 right_yaw=0.0011 right_pitch=-0.3551 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -12.2051, 5.9692, 0.9255, -0.4664, 0.0513, 0.8669, -0.0479, -1.0735, 6.6667, 1.4579, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0344, 2.1578, 1.9659, -1.0199, -0.8577, -0.7456, 0.2109, -0.0212, 0.8242, 0.601, -0.7326, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3649 left_y=-0.3453 left_z=0.1703 left_yaw=0.0297 left_pitch=-0.1152 left_roll=0.3037 left_gripper=0.2109 right_x=0.2353 right_y=0.0021 right_z=0.1087 right_yaw=0.0013 right_pitch=-0.3642 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -14.612, 8.294, 0.9353, -0.5885, 0.0806, 0.3394, -0.0889, -0.7179, 6.6667, 1.3895, -0.0611, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d9963e9c1bb8e8f4fc0a47aee3b64652abe2fcdbbc5b620298971c95bef5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a45d3dcfbcde6dd1199a33ccf8911d8546a3c93c5a47062c991f3c58e1b294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7ab303829c7528de2966f1b5e593b8e2f0acee0b4e97211bd4179d7a228c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrQQKjgEIEhgCKkDqavFN4J5g/U5kSy1xRwdQtNrRSwquzmgEkeZPe1TEvLv+D+yblaxMjds3GHfo2TvvltXz/59DOlCQw3ggnC3fMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2jzNUGEgwMbksitB8U07HFPSwaDIBbPVwJL7v44J3pQCIwq5IzlSTwaPX1cJLxdjWWLTN5w3azlTYfHY09Je3pVaemWpK3cDxzbxjVTQXwaPxSKssCJsXk6lOvssC2pwieDmE8Te+Rs6jcXYC952XKLhiAsMQ+iDLuWiMskVOXVkglPyKgt7lKxpFpThR222afLCKktAKCXsoswb+RAxaLyGDXAKewWj+xLzwbNWmmQJK6heU/LSS9BqG7v2StPHGbRJQyAVW91+neC5rnoJ1wYXtpKetd58F5O67kaIiwSVGXcnmB0wKp4P89leUpG2mZCzOalbnKHh1NXmiNrGC6eDajwFUftVQhTSZl2lF3uhCy4BrrqX0ro8soTOZjqpcKhhMzy3ag7BvgPODTmpc8MvVak0L71QXFiZUED0eBivvlOM4vJRLyjk4xzS4uMFuJFDkYQp+5ADqEdygdYhVP73HN6FNsGcgcwhmofZ/E9ESetqdd4JqAMwsK+2ynivJrWoY1mI1JJ1R08mDQdGWy7NGVPiRyM4JLjBM7BxXyFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WbSCi8fdc4ufhM1YNo3KsJ",
      "input": {
        "note": "Holding the teddy at 17 cm, the safe's open interior is directly ahead in the wrist view; moving forward over the middle of the case.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WbSCi8fdc4ufhM1YNo3KsJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8875, 2.257, 2.0789, -0.9573, -0.7963, -0.5972, 0.2138, -0.0212, 0.8268, 0.601, -0.7433, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.3218 left_z=0.1565 left_yaw=0.0627 left_pitch=-0.1478 left_roll=0.3223 left_gripper=0.2138 right_x=0.2332 right_y=0.0022 right_z=0.1066 right_yaw=0.0016 right_pitch=-0.3776 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -12.3556, 8.8, 0.9939, -0.3932, 0.2076, 0.2808, -0.0205, -1.2923, 6.7487, 1.3846, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3fd6b65b5ff5db39ee4f21c22ff6dd95aceef6846657255585a3d7aa8e24c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e98699a2037e1035356abb4da21b71e32c299f0736eb9d26f8ae76b9bdf6969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57024fe76b5aa252d73d602431ee33563cbacac2b9b06e795d905c4549a2de7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 16.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 2.2272, 1.5429, -0.5018, -0.8722, -0.7334, 0.2076, -0.0212, 0.823, 0.601, -0.7246, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3634 left_y=-0.3398 left_z=0.0426 left_yaw=0.0266 left_pitch=-0.093 left_roll=0.2974 left_gripper=0.2076 right_x=0.237 right_y=0.002 right_z=0.1101 right_yaw=0.0011 right_pitch=-0.3551 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -12.2051, 5.9692, 0.9255, -0.4664, 0.0513, 0.8669, -0.0479, -1.0735, 6.6667, 1.4579, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0344, 2.1578, 1.9659, -1.0199, -0.8577, -0.7456, 0.2109, -0.0212, 0.8242, 0.601, -0.7326, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3649 left_y=-0.3453 left_z=0.1703 left_yaw=0.0297 left_pitch=-0.1152 left_roll=0.3037 left_gripper=0.2109 right_x=0.2353 right_y=0.0021 right_z=0.1087 right_yaw=0.0013 right_pitch=-0.3642 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -14.612, 8.294, 0.9353, -0.5885, 0.0806, 0.3394, -0.0889, -0.7179, 6.6667, 1.3895, -0.0611, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8875, 2.257, 2.0789, -0.9573, -0.7963, -0.5972, 0.2138, -0.0212, 0.8268, 0.601, -0.7433, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.3218 left_z=0.1565 left_yaw=0.0627 left_pitch=-0.1478 left_roll=0.3223 left_gripper=0.2138 right_x=0.2332 right_y=0.0022 right_z=0.1066 right_yaw=0.0016 right_pitch=-0.3776 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -12.3556, 8.8, 0.9939, -0.3932, 0.2076, 0.2808, -0.0205, -1.2923, 6.7487, 1.3846, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3fd6b65b5ff5db39ee4f21c22ff6dd95aceef6846657255585a3d7aa8e24c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e98699a2037e1035356abb4da21b71e32c299f0736eb9d26f8ae76b9bdf6969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57024fe76b5aa252d73d602431ee33563cbacac2b9b06e795d905c4549a2de7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EUhyUA4fkuVZkTb7qb8urK",
      "input": {
        "note": "The teddy now hangs over the red floor of the case's bottom half; releasing it inside the safe.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EUhyUA4fkuVZkTb7qb8urK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8841, 2.2597, 2.0857, -0.9657, -0.7895, -0.6064, 0.9951, -0.0208, 0.8268, 0.601, -0.7471, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.3209 left_z=0.1559 left_yaw=0.068 left_pitch=-0.1537 left_roll=0.3152 left_gripper=0.9951 right_x=0.2324 right_y=0.0023 right_z=0.1061 right_yaw=0.002 right_pitch=-0.3814 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -13.1487, 5.8872, 1.0281, -0.4908, 0.0366, -0.1294, -0.0889, -1.0872, 6.653, 1.3065, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3562868448dc2d52d0bb6dd02f71fd798d2ff6a780c9a9aa07536e4ecc7255c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bd2419da837adca26576314eca45e0b4126749c502f19c8ba16373dc9b2b53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fa923fcd76746add479b0e1d660f540798406e07e645cb4b1dca6c2aad6a719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 9.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0344, 2.1578, 1.9659, -1.0199, -0.8577, -0.7456, 0.2109, -0.0212, 0.8242, 0.601, -0.7326, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3649 left_y=-0.3453 left_z=0.1703 left_yaw=0.0297 left_pitch=-0.1152 left_roll=0.3037 left_gripper=0.2109 right_x=0.2353 right_y=0.0021 right_z=0.1087 right_yaw=0.0013 right_pitch=-0.3642 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -14.612, 8.294, 0.9353, -0.5885, 0.0806, 0.3394, -0.0889, -0.7179, 6.6667, 1.3895, -0.0611, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8875, 2.257, 2.0789, -0.9573, -0.7963, -0.5972, 0.2138, -0.0212, 0.8268, 0.601, -0.7433, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.3218 left_z=0.1565 left_yaw=0.0627 left_pitch=-0.1478 left_roll=0.3223 left_gripper=0.2138 right_x=0.2332 right_y=0.0022 right_z=0.1066 right_yaw=0.0016 right_pitch=-0.3776 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -12.3556, 8.8, 0.9939, -0.3932, 0.2076, 0.2808, -0.0205, -1.2923, 6.7487, 1.3846, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8841, 2.2597, 2.0857, -0.9657, -0.7895, -0.6064, 0.9951, -0.0208, 0.8268, 0.601, -0.7471, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.3209 left_z=0.1559 left_yaw=0.068 left_pitch=-0.1537 left_roll=0.3152 left_gripper=0.9951 right_x=0.2324 right_y=0.0023 right_z=0.1061 right_yaw=0.002 right_pitch=-0.3814 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -13.1487, 5.8872, 1.0281, -0.4908, 0.0366, -0.1294, -0.0889, -1.0872, 6.653, 1.3065, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3562868448dc2d52d0bb6dd02f71fd798d2ff6a780c9a9aa07536e4ecc7255c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bd2419da837adca26576314eca45e0b4126749c502f19c8ba16373dc9b2b53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa923fcd76746add479b0e1d660f540798406e07e645cb4b1dca6c2aad6a719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZRa236NY7N7wKzCfomt4c",
      "input": {
        "note": "The white teddy is now inside the safe. Parking the left arm out of the way and bringing the right arm over toward the brown bear to pick it up next.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.25,
          "right_pitch": 0,
          "right_x": 0.3,
          "right_y": 0.3,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01MZRa236NY7N7wKzCfomt4c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 1.0061, 1.1091, -1.0641, -0.6903, -0.3862, 0.9963, 1.0805, 1.6466, 1.301, -0.6689, 0.7723, 0.7696, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.0557 left_z=0.2509 left_yaw=0.084 left_pitch=-0.138 left_roll=0.2895 left_gripper=0.9963 right_x=0.2914 right_y=0.2918 right_z=0.1819 right_yaw=0.0371 right_pitch=-0.0633 right_roll=-0.0481 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.7436, 5.8051, 1.326, -0.1978, 0.1538, 0.1099, 0.1573, -7.8974, 8.5402, 1.4139, 0.6081, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a3b089ca0ab758b824d61450bec6a640abf3bc9d88d517d4ab4fdef22f9a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59af6da21b2e3731e556a7d84f15eb3f230b0bc0503b105675c5e8c4afd4709c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:458c97e05548b4ad81bad70e983c0330dbc7edf0fef7fbde8a77c06b1edc803b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.603 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8875, 2.257, 2.0789, -0.9573, -0.7963, -0.5972, 0.2138, -0.0212, 0.8268, 0.601, -0.7433, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4294 left_y=-0.3218 left_z=0.1565 left_yaw=0.0627 left_pitch=-0.1478 left_roll=0.3223 left_gripper=0.2138 right_x=0.2332 right_y=0.0022 right_z=0.1066 right_yaw=0.0016 right_pitch=-0.3776 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -12.3556, 8.8, 0.9939, -0.3932, 0.2076, 0.2808, -0.0205, -1.2923, 6.7487, 1.3846, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8841, 2.2597, 2.0857, -0.9657, -0.7895, -0.6064, 0.9951, -0.0208, 0.8268, 0.601, -0.7471, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.3209 left_z=0.1559 left_yaw=0.068 left_pitch=-0.1537 left_roll=0.3152 left_gripper=0.9951 right_x=0.2324 right_y=0.0023 right_z=0.1061 right_yaw=0.002 right_pitch=-0.3814 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -13.1487, 5.8872, 1.0281, -0.4908, 0.0366, -0.1294, -0.0889, -1.0872, 6.653, 1.3065, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 1.0061, 1.1091, -1.0641, -0.6903, -0.3862, 0.9963, 1.0805, 1.6466, 1.301, -0.6689, 0.7723, 0.7696, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.0557 left_z=0.2509 left_yaw=0.084 left_pitch=-0.138 left_roll=0.2895 left_gripper=0.9963 right_x=0.2914 right_y=0.2918 right_z=0.1819 right_yaw=0.0371 right_pitch=-0.0633 right_roll=-0.0481 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.7436, 5.8051, 1.326, -0.1978, 0.1538, 0.1099, 0.1573, -7.8974, 8.5402, 1.4139, 0.6081, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a3b089ca0ab758b824d61450bec6a640abf3bc9d88d517d4ab4fdef22f9a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59af6da21b2e3731e556a7d84f15eb3f230b0bc0503b105675c5e8c4afd4709c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:458c97e05548b4ad81bad70e983c0330dbc7edf0fef7fbde8a77c06b1edc803b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAgKjgEIEhgCKkB+5W2bUnVeCOb46wAsaeW/OI8qszGtefNdbES+7EwxgsTpy0TuDIj7wQCgELKy8c++MpTGlKH2CQXPntfj7QQ4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfajzNUGEgxjtZEMYQTYKENrNLQaDIEs5Y5Wy9N5T7tI5CIw2TDSajgtmz7+K/o0qAYVs1RLFTaW82kfMXHBOm2AbQgD4T0ky9ITIuMZfBZb19h1KsoG6qlkORRBqclHspsYeAr2RKoY7hPKbCwIjyxVFWb7S8FvKc5CMbdvyE35A4NaoWzGBm80VyR3P3LPNHmbKkWHEhZfFeCMh7ZhCS3SQK9uahH52D01q4uEjEZ5WL9RXB+6yQc7rGJP5T/+RgSYm00WKkok/LQYBPSSH02CFkdN2jzTG8DwPqOEuKw7Njmi6I650x9S3wSS1pUhC2DWiikUpPpYSMCphZOe1RDTen8/7Y/0UUds7OH2WMgjuiGQmEg3MRRXI26s7eIf61Kd0VSikoH8VG+eU1IzpV3g1c65jLCTpwXAUb/DQ1H9JH1BBCTPE3ODfypA50mfEwQsqAYve1DTuOv02iztMg64dWE8wMVkdBJCuE59qD106PjzKOd47EpaA7lDP65HJWbgmmMZF/SITXU82/uX3st2f+hv+ZK3OIZs2gwL4IYlbF57qtnHGydGCUXdQnvDukzt+jyxbfmigoqRNnngx9tTCVtr9zm3hl3R5QXUv+Jf5pZXD7vjPNEwWhJwS8vEfaWVrgqL8rq/ZUVOh3PQH3kK0yYxqt+nOFsYWg20btJWJRSyZlqteQt3RZYeSkdeiPK5YdDqtaGZC/jInAWtZWjGUCmExqhJSaq8jud3HfEluRPOCZgvkIjuORwzx/SMCWxkJXNV52DyHPpYn7iQaqR5pzI/LjjaIJmTeHwgUwJRg1JDruPlE5Vd9CkyWE0aNtmpS8TKI+3y7e+Gr0UKKcZDmvE+d2yqC08eWohMlcN+2ZP5vlHCXx2pL5CPpZipj6dY8zBaKIZAJAJMugqJIHItRwhC5YvEVWxvibkuHCnlfr/IxSOe8WLuklFjUTR+et/9ikuTsi/8zz+EIn4vr+OB6Rk8Im2WuEkc9jK69lHsnc9JdCIsQ+T2Guy/Q59HF+i0udYdqbB77Qsoqq7Y9RmegfNpGRtHv4iZGQFjwPVBpkIHUuyxSc8/iHgvPzzMeIYZ9b2U/pCLsGKbMYRBgiLgE4N489xJjH5ewvBFx8lH/GdtcmYWiP8mm8GHVIO4DyMhUyknvRf49j7GHMLnARBxiDnNjYNFxHXB6Bf/dOYVEWhiMo44fFaiObIRzun43tqO8BPlVCHbfxqaOsOavOAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E55qiDU7NZCPfcA4BWcwrW",
      "input": {
        "note": "Right wrist view shows the brown bear lying just under the jaws and the yellow ball beside the case. Descending onto the bear to grasp it.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.27,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01E55qiDU7NZCPfcA4BWcwrW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0786, -0.6842, -0.3828, 0.9964, 1.0286, 1.7367, 0.9077, -0.2161, 0.7391, 0.7139, 0.9996]\nstate[eef_state]: left_x=0.2536 left_y=-0.055 left_z=0.2461 left_yaw=0.0814 left_pitch=-0.1592 left_roll=0.3048 left_gripper=0.9964 right_x=0.2918 right_y=0.2608 right_z=0.0589 right_yaw=0.0325 right_pitch=-0.1057 right_roll=-0.1029 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.2906, 6.5436, 1.3309, -0.3883, -0.0757, 0.0024, -0.3761, -7.1316, 6.0513, 1.4139, 0.3492, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58ba5839d1bcd1518aac50e38bac5ecda23005ddff3be2c1f08ac038d9d74eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc055e574428fa30c779f2e0c029e0322a43dafadcfd89780ba428d61a858b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5dc983b2b501e7b6d93232500519747885139c4a69bf3855c72ba2cf46ba9fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.562 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8841, 2.2597, 2.0857, -0.9657, -0.7895, -0.6064, 0.9951, -0.0208, 0.8268, 0.601, -0.7471, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.3209 left_z=0.1559 left_yaw=0.068 left_pitch=-0.1537 left_roll=0.3152 left_gripper=0.9951 right_x=0.2324 right_y=0.0023 right_z=0.1061 right_yaw=0.002 right_pitch=-0.3814 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -13.1487, 5.8872, 1.0281, -0.4908, 0.0366, -0.1294, -0.0889, -1.0872, 6.653, 1.3065, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 1.0061, 1.1091, -1.0641, -0.6903, -0.3862, 0.9963, 1.0805, 1.6466, 1.301, -0.6689, 0.7723, 0.7696, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.0557 left_z=0.2509 left_yaw=0.084 left_pitch=-0.138 left_roll=0.2895 left_gripper=0.9963 right_x=0.2914 right_y=0.2918 right_z=0.1819 right_yaw=0.0371 right_pitch=-0.0633 right_roll=-0.0481 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.7436, 5.8051, 1.326, -0.1978, 0.1538, 0.1099, 0.1573, -7.8974, 8.5402, 1.4139, 0.6081, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0786, -0.6842, -0.3828, 0.9964, 1.0286, 1.7367, 0.9077, -0.2161, 0.7391, 0.7139, 0.9996]\nstate[eef_state]: left_x=0.2536 left_y=-0.055 left_z=0.2461 left_yaw=0.0814 left_pitch=-0.1592 left_roll=0.3048 left_gripper=0.9964 right_x=0.2918 right_y=0.2608 right_z=0.0589 right_yaw=0.0325 right_pitch=-0.1057 right_roll=-0.1029 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.2906, 6.5436, 1.3309, -0.3883, -0.0757, 0.0024, -0.3761, -7.1316, 6.0513, 1.4139, 0.3492, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58ba5839d1bcd1518aac50e38bac5ecda23005ddff3be2c1f08ac038d9d74eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc055e574428fa30c779f2e0c029e0322a43dafadcfd89780ba428d61a858b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc983b2b501e7b6d93232500519747885139c4a69bf3855c72ba2cf46ba9fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggMKjgEIEhgCKkAA2hXQljhZOfcOFUyawTkQ4gh9Di9KHIGRzC2pHayxY7R2xFXTuIDY8R67sFbNTT1evL9l/HXn2yhvvaZ9ehCIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfujzNUGEgyvu4Hs2JcL/kwh6RQaDOHLoNvhaAI2sgxMQSIwBxMcxFtlC8XZ/waew8iCnS48+rYFDVFVYOWS6AF6vjdzZnfz0TGWU/5SGsoP+/3NKqAB4UVz0yPASfknUFpYVmUXOTVuhjcDkU9HTN5pxD34xgHJU0MfKY2B+30EuhBkCAPyZ20C7xk3m1tSPXDSbogLHtAs4lNvWzLyvtLXpag4L8GeVt4jSl3lbHkV2fODtgeruAXgeNPuoTSy9PvF/9LH3k2L1Jk1F2xIDj9vOBsLul8nkRxe8yJSoAjZkAYBXM85IQTX5NDfnXXy9oIXGsZF3hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KUR3Z8KV7T6E8Lh23qzoc9",
      "input": {
        "note": "The brown bear is directly between the jaws in the right wrist view; closing on its body.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KUR3Z8KV7T6E8Lh23qzoc9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0824, -0.6838, -0.3828, 0.9964, 1.0264, 1.7531, 0.8871, -0.2161, 0.7322, 0.7078, 0.0545]\nstate[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.2456 left_yaw=0.0816 left_pitch=-0.1622 left_roll=0.3072 left_gripper=0.9964 right_x=0.288 right_y=0.2545 right_z=0.0462 right_yaw=0.0336 right_pitch=-0.1313 right_roll=-0.1355 right_gripper=0.0545\nstate[joint_eff]: [-0.2803, -1.9487, 6.1333, 1.2186, -0.3785, -0.022, -0.0073, 0.0615, -9.2103, 7.1726, 1.1062, 0.3785, 0.0513, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7028a9982eb8888acf999292fb7c0b806932dd9b54c33222b5ac2d649d74308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27e907898a149fdfaea060a49114628ea96a84df740c1f65066e9ce7888db0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8e57a70f41303a85173ba28cbc2bcc836a00bedb1998773a14c9664ddba79ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 9.13 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 1.0061, 1.1091, -1.0641, -0.6903, -0.3862, 0.9963, 1.0805, 1.6466, 1.301, -0.6689, 0.7723, 0.7696, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.0557 left_z=0.2509 left_yaw=0.084 left_pitch=-0.138 left_roll=0.2895 left_gripper=0.9963 right_x=0.2914 right_y=0.2918 right_z=0.1819 right_yaw=0.0371 right_pitch=-0.0633 right_roll=-0.0481 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.7436, 5.8051, 1.326, -0.1978, 0.1538, 0.1099, 0.1573, -7.8974, 8.5402, 1.4139, 0.6081, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0786, -0.6842, -0.3828, 0.9964, 1.0286, 1.7367, 0.9077, -0.2161, 0.7391, 0.7139, 0.9996]\nstate[eef_state]: left_x=0.2536 left_y=-0.055 left_z=0.2461 left_yaw=0.0814 left_pitch=-0.1592 left_roll=0.3048 left_gripper=0.9964 right_x=0.2918 right_y=0.2608 right_z=0.0589 right_yaw=0.0325 right_pitch=-0.1057 right_roll=-0.1029 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.2906, 6.5436, 1.3309, -0.3883, -0.0757, 0.0024, -0.3761, -7.1316, 6.0513, 1.4139, 0.3492, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0824, -0.6838, -0.3828, 0.9964, 1.0264, 1.7531, 0.8871, -0.2161, 0.7322, 0.7078, 0.0545]\nstate[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.2456 left_yaw=0.0816 left_pitch=-0.1622 left_roll=0.3072 left_gripper=0.9964 right_x=0.288 right_y=0.2545 right_z=0.0462 right_yaw=0.0336 right_pitch=-0.1313 right_roll=-0.1355 right_gripper=0.0545\nstate[joint_eff]: [-0.2803, -1.9487, 6.1333, 1.2186, -0.3785, -0.022, -0.0073, 0.0615, -9.2103, 7.1726, 1.1062, 0.3785, 0.0513, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7028a9982eb8888acf999292fb7c0b806932dd9b54c33222b5ac2d649d74308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27e907898a149fdfaea060a49114628ea96a84df740c1f65066e9ce7888db0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8e57a70f41303a85173ba28cbc2bcc836a00bedb1998773a14c9664ddba79ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wIKjgEIEhgCKkBmptCUaPwOd+vJgxGHCaYflEBR/xHKy1JFqQiBlJtZv2x4dXpUETc4OBpy7TVAYgtwPv/SUDCGhcotl43Eo38zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGkzNUGEgwiAAfxgsLq9ibeEVgaDK5JiIsPX48msHV1bSIw8XzuSmsxc7JrA6474mKrRBuWnELIJrWxemIJKMX1ib+zGUCnh2YFBtWgjCjCNpZBKpUB4PwG943p3IKHJZtuk4iOMaGLgWU2dlYhCoRwW0t2I0HJcgcbZpRuKrtqrmMmgrpj/wQixVfu2U2Hrm9prHFGoGgTad//15/pzqiW5z1JAaI+LJuphzuUKRgSJuAnqA0w1yu3gWRKK9d9W7HakJM2c9i0BDOwO2sapdK/XiLYkZhgnRyHExNst2YHhYr8p/x4bsJ/Jb8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RBdxGFgngq3GUFMGY4sJpE",
      "input": {
        "note": "Gripper closed to 0.05 on the bear's fur; lifting to see whether the bear comes with it.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01RBdxGFgngq3GUFMGY4sJpE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0855, -0.6838, -0.3824, 0.9965, 1.026, 1.5967, 1.3739, -0.8848, 0.7185, 0.7067, 0.0542]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1645 left_roll=0.3096 left_gripper=0.9965 right_x=0.288 right_y=0.2578 right_z=0.1988 right_yaw=0.0381 right_pitch=-0.1556 right_roll=-0.1512 right_gripper=0.0542\nstate[joint_eff]: [-0.1436, -1.935, 6.1333, 1.2479, -0.3834, -0.0366, -0.0073, -0.2393, -8.9915, 8.3624, 1.1746, 0.4029, -0.0073, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b46ac08dd88c63121e30aaeacd2d7815ed2da499dad8ec35c8f369605e4c5548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a4b51ffead8d07ba1fbe03b4e981b6a59462982504782a40d6f85ea4365ddd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8b7480255b1188627176137bc6d0b8e579a626639f97572ea588915970d6311",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.373 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0786, -0.6842, -0.3828, 0.9964, 1.0286, 1.7367, 0.9077, -0.2161, 0.7391, 0.7139, 0.9996]\nstate[eef_state]: left_x=0.2536 left_y=-0.055 left_z=0.2461 left_yaw=0.0814 left_pitch=-0.1592 left_roll=0.3048 left_gripper=0.9964 right_x=0.2918 right_y=0.2608 right_z=0.0589 right_yaw=0.0325 right_pitch=-0.1057 right_roll=-0.1029 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.2906, 6.5436, 1.3309, -0.3883, -0.0757, 0.0024, -0.3761, -7.1316, 6.0513, 1.4139, 0.3492, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0824, -0.6838, -0.3828, 0.9964, 1.0264, 1.7531, 0.8871, -0.2161, 0.7322, 0.7078, 0.0545]\nstate[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.2456 left_yaw=0.0816 left_pitch=-0.1622 left_roll=0.3072 left_gripper=0.9964 right_x=0.288 right_y=0.2545 right_z=0.0462 right_yaw=0.0336 right_pitch=-0.1313 right_roll=-0.1355 right_gripper=0.0545\nstate[joint_eff]: [-0.2803, -1.9487, 6.1333, 1.2186, -0.3785, -0.022, -0.0073, 0.0615, -9.2103, 7.1726, 1.1062, 0.3785, 0.0513, 0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0855, -0.6838, -0.3824, 0.9965, 1.026, 1.5967, 1.3739, -0.8848, 0.7185, 0.7067, 0.0542]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1645 left_roll=0.3096 left_gripper=0.9965 right_x=0.288 right_y=0.2578 right_z=0.1988 right_yaw=0.0381 right_pitch=-0.1556 right_roll=-0.1512 right_gripper=0.0542\nstate[joint_eff]: [-0.1436, -1.935, 6.1333, 1.2479, -0.3834, -0.0366, -0.0073, -0.2393, -8.9915, 8.3624, 1.1746, 0.4029, -0.0073, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b46ac08dd88c63121e30aaeacd2d7815ed2da499dad8ec35c8f369605e4c5548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a4b51ffead8d07ba1fbe03b4e981b6a59462982504782a40d6f85ea4365ddd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b7480255b1188627176137bc6d0b8e579a626639f97572ea588915970d6311",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQgKjgEIEhgCKkB2CkRDnowtoB8Fo1X/OUAmpqX0WfTrNaOJor/lpq9Zwe5jf6M5w4RheHmVwugwLYmSGEk53CLt9t9GVFWCV+uUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqkzNUGEgxM5a4SjoI6WE82cicaDJZemqqY6oWvf/4KaSIwQ4XmfE4qcW7M0h7R+K9Wqz3SZGDNMBAMeos6G+ZvaG0qXX0S2DTcKP6MtU7/92n1Kr8G6NG0s9+L1U9IEwAeWyQQ8cax+aBoWpwXOq9n4FttU7hNuBxnj9IMLHexrSNR+OunEKYOGS9E6lfoEZVnZ1Y2xt2SENWQokxk8BmfsUvbLslXCJ4/fiAOL0CsszBXXGBn/sEbE13dKPe40KxF9BnScQuzd3BBzM5su5TzXGLbVhqpUtXd+XECkmrW+C2V/nHRH5Z/SVB6lEeRpKv1nkDZi+bLAr4O7/m9E6eXK6bNleRSpzNo3YGjAosfF4sWTsYxmlQG4jd5M84MnW0jFN7S6gdQcBHMpSrGtE8OoyrKonccahWStkHIiy64WAUHnJhPSM9TIHM7H3Rj2/m2pE3/z6eHh+cHTUd177VcwFfd5BKJUZgifD13Sk+4LY+Cl5VIfF+cn5U3qASGyjmEulDFmlEpW4wiVxscXqOOmF5d9SYHhDMSwHfBmDaZS93FJxrGCFxCwqLRysb55DGk3kDR57ZluPSSnrvRIzBhTLpN4MbHP6ZOfSHjQpLUdPDd6XpwIteUNGzYzLFYA41WMqhWTDPG4mzpthiwbX73efHzdPW/TZWF1l2daX34NoPz9qilVs8yi9OH0qUWEtva84CLnqlNDU9Rgq+TwQZnXgWyt6d2l3pQ6upC0DzzXI1VZQ6yAEXdxFcZ/8OjsA7EhGrh1wtncxUUq6UaIIju8YwiBUUWaxwmeLsah1yR3lbxYcbkEil9Vyk73qXMYriRqaSPE48VH6FBYhrZ4B1wPIJGPCC/GD4ElZ/ICJjfPzdnsMXT/MA97NfhBkurWPqZPlOHTZFZYEe2v0dTO1ed5loN96DpqeaIIyKu6X2EjPYvvSQLN0RYImmPm2SsfFuZQTCPjd9szEL32HW/hQZZxLrB/8G1iNwxbkTeO61NbTHWt/Yoe38nZA3IZF+XhhtlHglbX03dMKe9/9VqkCV83iy8JJR+MU8jnpVH76zY9YJIEqtTYlliiGDKI/Kodv8Dty3B/I9yr2Bdua11yy4GFjJr6Wv3rkHFQrg5NOLd4fLXQ67m57OEXgRB0jkBricibHSUHyZchkNzdoDGOEvgqhb+EGeOytWW3HOOBrNmZNoo/ZSQvqgoOTwYoHNAD1zzGRkWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012sotgHMDy3oALJ4M3ZrzKm",
      "input": {
        "note": "The bear stayed on the table (gripper only closed to 0.05 on fur). Reopening and pressing lower into the plush torso for a deeper grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.25,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_012sotgHMDy3oALJ4M3ZrzKm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.984, 1.7973, 0.881, -0.1909, 0.7006, 0.6586, 0.9956]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2954 right_y=0.2451 right_z=0.0281 right_yaw=0.0325 right_pitch=-0.1729 right_roll=-0.1772 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.9487, 6.4068, 1.2088, -0.3394, -0.0171, -0.0122, -0.6769, -6.2701, 4.7111, 0.9158, 0.2564, -0.0952, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320a65f95c0a1653802650b9561eca3d714d98863ab201ea5db8ce084dddcef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e82741145dd4ab5789a9754083d085142a15fa016221b079509f676bb53c6c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aebce147f917424dfabe98ab80d2ea701b2f16643bc83fc452c4a827a552e2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.053 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0824, -0.6838, -0.3828, 0.9964, 1.0264, 1.7531, 0.8871, -0.2161, 0.7322, 0.7078, 0.0545]\nstate[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.2456 left_yaw=0.0816 left_pitch=-0.1622 left_roll=0.3072 left_gripper=0.9964 right_x=0.288 right_y=0.2545 right_z=0.0462 right_yaw=0.0336 right_pitch=-0.1313 right_roll=-0.1355 right_gripper=0.0545\nstate[joint_eff]: [-0.2803, -1.9487, 6.1333, 1.2186, -0.3785, -0.022, -0.0073, 0.0615, -9.2103, 7.1726, 1.1062, 0.3785, 0.0513, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0855, -0.6838, -0.3824, 0.9965, 1.026, 1.5967, 1.3739, -0.8848, 0.7185, 0.7067, 0.0542]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1645 left_roll=0.3096 left_gripper=0.9965 right_x=0.288 right_y=0.2578 right_z=0.1988 right_yaw=0.0381 right_pitch=-0.1556 right_roll=-0.1512 right_gripper=0.0542\nstate[joint_eff]: [-0.1436, -1.935, 6.1333, 1.2479, -0.3834, -0.0366, -0.0073, -0.2393, -8.9915, 8.3624, 1.1746, 0.4029, -0.0073, -0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.984, 1.7973, 0.881, -0.1909, 0.7006, 0.6586, 0.9956]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2954 right_y=0.2451 right_z=0.0281 right_yaw=0.0325 right_pitch=-0.1729 right_roll=-0.1772 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.9487, 6.4068, 1.2088, -0.3394, -0.0171, -0.0122, -0.6769, -6.2701, 4.7111, 0.9158, 0.2564, -0.0952, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320a65f95c0a1653802650b9561eca3d714d98863ab201ea5db8ce084dddcef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e82741145dd4ab5789a9754083d085142a15fa016221b079509f676bb53c6c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebce147f917424dfabe98ab80d2ea701b2f16643bc83fc452c4a827a552e2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgMKjgEIEhgCKkDSYDISCGUyiTde0g9tKS+cbpdAc+puvpswgg4S14weiSdkBjVboWiO1lfFbqbsucZXfpt53/l4TQJkkbJ0PV+4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGkzNUGEgyFJMnXqfu0rytWryoaDEcwL5UZ6RcbLggspyIwTdD8GzzrV7VKlG88QnjlbUl+/cpxoyQ9xzgKQjlbaAxOoZfq/HJcUhHbOoBsFBTsKrABYXBKmtuOBd7cPa+t9Rrn5sQg/LpNPgUHMd0g6uqEo+3H7QuxpHBH8eX+tmKwSwbOp7ZLFF6vO6/iAbaznb8STzhHu35/x8eXfgBD2nGH4WemooVwT/ViMR1wRXhoOwESMAcbnOe9b+/nFTfWyziBTp+BNiqexxQVkwxkTjJ7cnc/Vx5Itc+Vf1gWCLpcWsLsr35Rsg5GEtfcaeyUxAQ34Gi/SdtynaTEATRwJgFCDvYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VRsUBvpy2FmxtfCcsnQfzN",
      "input": {
        "note": "Jaws are straddling the bear's torso at table level; closing fully to grip the plush.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VRsUBvpy2FmxtfCcsnQfzN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9848, 1.808, 0.8768, -0.1619, 0.7063, 0.6544, 0.0134]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2974 right_y=0.2472 right_z=0.0264 right_yaw=0.0344 right_pitch=-0.1609 right_roll=-0.1716 right_gripper=0.0134\nstate[joint_eff]: [-0.1026, -1.9487, 6.2564, 1.199, -0.3639, -0.0366, -0.0122, -0.335, -9.0051, 5.5726, 0.7399, 0.2222, 0.0073, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62b7b2f4a166b43284060a26983795d182cea89f4a6bb6b7ccb92515593fe0d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7dbe2893a5522c8c49c16faca319b2191bbe46171d9633649e05121f455742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a567f4e42d8f2dc5aba1282f390e53fe563761dfe0f8c7f8fa65abaf0aca3cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 10.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0855, -0.6838, -0.3824, 0.9965, 1.026, 1.5967, 1.3739, -0.8848, 0.7185, 0.7067, 0.0542]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1645 left_roll=0.3096 left_gripper=0.9965 right_x=0.288 right_y=0.2578 right_z=0.1988 right_yaw=0.0381 right_pitch=-0.1556 right_roll=-0.1512 right_gripper=0.0542\nstate[joint_eff]: [-0.1436, -1.935, 6.1333, 1.2479, -0.3834, -0.0366, -0.0073, -0.2393, -8.9915, 8.3624, 1.1746, 0.4029, -0.0073, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.984, 1.7973, 0.881, -0.1909, 0.7006, 0.6586, 0.9956]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2954 right_y=0.2451 right_z=0.0281 right_yaw=0.0325 right_pitch=-0.1729 right_roll=-0.1772 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.9487, 6.4068, 1.2088, -0.3394, -0.0171, -0.0122, -0.6769, -6.2701, 4.7111, 0.9158, 0.2564, -0.0952, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9848, 1.808, 0.8768, -0.1619, 0.7063, 0.6544, 0.0134]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2974 right_y=0.2472 right_z=0.0264 right_yaw=0.0344 right_pitch=-0.1609 right_roll=-0.1716 right_gripper=0.0134\nstate[joint_eff]: [-0.1026, -1.9487, 6.2564, 1.199, -0.3639, -0.0366, -0.0122, -0.335, -9.0051, 5.5726, 0.7399, 0.2222, 0.0073, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62b7b2f4a166b43284060a26983795d182cea89f4a6bb6b7ccb92515593fe0d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7dbe2893a5522c8c49c16faca319b2191bbe46171d9633649e05121f455742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a567f4e42d8f2dc5aba1282f390e53fe563761dfe0f8c7f8fa65abaf0aca3cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QMKjgEIEhgCKkCJBem2ipS1wCQRpC1Rq8pcl14yx/hOhOsKomGuBP+5y8qp//lQt0DYI8r3lOM9hpDHjo0hszkNI33VlA55PumuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZakzNUGEgxv8mzFRmc8maxK91saDOTSSMNIdEx5uAX5dyIwfT+Hf1udKlXmOXo1ClWHUo82R5RtxOBhGpYbMyHu+r9PZPcgNTAinj006bzB1ZAWKosCCgGyD7ZvR2DErZIjwix6B+3ly/xGXc9mY55bQ2bcXssRy2gqP1SRPvzxFESxv0FI/H3rJM/Trf1+kRkjQz9qhS1sIcXyqL3U6bmmXctXXv2LOf7A0BD6P6iIGMtd8NakCCVo4/NUPv9erQaeKtrV1uvBALDGULQRxF+p+2piLmejFNB2cIe2B7SpUhZQLXfiqILayuzfopfIdKNNBqtHp6MMKSjULtQHp3aJBE8pdjOzFUsJyCWv0JQhOiFiAFgxTvfAFVEPk4NTxquDp8RcSj2vB2y6+1Wg9BAUZXYh53aDD+DkQJ92hzo9xviPwjFfpES+s9rQxesyGT6bV++wXhEPPgRPVooQ4+ZfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JHhadKFcwYyNHcUxDYfJ6R",
      "input": {
        "note": "Jaws fully closed on the bear's fur; lifting to check whether the bear comes up with the gripper.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01JHhadKFcwYyNHcUxDYfJ6R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9867, 1.6169, 1.3205, -0.8352, 0.6872, 0.654, 0.016]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2955 right_y=0.2503 right_z=0.1747 right_yaw=0.0411 right_pitch=-0.1973 right_roll=-0.1936 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -1.9487, 6.188, 1.1941, -0.3687, -0.0659, -0.0122, -0.4444, -9.5932, 8.6769, 1.1551, 0.4762, -0.0366, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1ce677bcba4f0ab4e9fa4f641b9eed7eb794141247879f158d3524edd46ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaecce40057ad476f24c10177eb2508ffb285b13e9d9852b01d369a64dcdaa99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29746c164db72c3b2102d5367205f6a930a80b871fe8dd09a4c7b4a7f976559f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 8.641 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.984, 1.7973, 0.881, -0.1909, 0.7006, 0.6586, 0.9956]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2954 right_y=0.2451 right_z=0.0281 right_yaw=0.0325 right_pitch=-0.1729 right_roll=-0.1772 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.9487, 6.4068, 1.2088, -0.3394, -0.0171, -0.0122, -0.6769, -6.2701, 4.7111, 0.9158, 0.2564, -0.0952, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9848, 1.808, 0.8768, -0.1619, 0.7063, 0.6544, 0.0134]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2974 right_y=0.2472 right_z=0.0264 right_yaw=0.0344 right_pitch=-0.1609 right_roll=-0.1716 right_gripper=0.0134\nstate[joint_eff]: [-0.1026, -1.9487, 6.2564, 1.199, -0.3639, -0.0366, -0.0122, -0.335, -9.0051, 5.5726, 0.7399, 0.2222, 0.0073, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9867, 1.6169, 1.3205, -0.8352, 0.6872, 0.654, 0.016]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2955 right_y=0.2503 right_z=0.1747 right_yaw=0.0411 right_pitch=-0.1973 right_roll=-0.1936 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -1.9487, 6.188, 1.1941, -0.3687, -0.0659, -0.0122, -0.4444, -9.5932, 8.6769, 1.1551, 0.4762, -0.0366, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1ce677bcba4f0ab4e9fa4f641b9eed7eb794141247879f158d3524edd46ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaecce40057ad476f24c10177eb2508ffb285b13e9d9852b01d369a64dcdaa99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29746c164db72c3b2102d5367205f6a930a80b871fe8dd09a4c7b4a7f976559f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS6goKjgEIEhgCKkA7mBKuakMyQ+hW2q2+g7Sr/a/+tDGw+fC2UDHXc3agZXUJuwgMa6MGScZBj8fZfen+t64d0hi07F32++uKzWphMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaGkzNUGEgxJ44MXnl77A6Bbh0saDL0+o9NSYwEUokYrLiIwYn+3iLbjqLNQp+lc2pI9gx4dCPCQlslNoDtSshvWOn+JLtnUDGv12MGHUj2ucDqaKogJXbXh4rSYQjmXzwEPyJjmkkdoCftUfCc+cWS/WgwdvIhW2TkphvCkp+lsARZZQ28OylKrSinvzMzGFL2/OZTT60mFEowAKOs1Gy0gLMVmCjaUQTBt3KtroQ6T8OS4qOM5Dw+FnUdYQcy9nx9v08BCJlBP5srjAoPtNMmR7nxE2JNdv6NkFYVPt71+29M3tt/QLIolk3zkds0PMs/hqE3sr7Ql0vd4TfvSWYlD++LNipbT5vqlK5kf3zhWhnLoWp4aide0G3s9tKXPS8qfEvmnX/p9FA1nSoaloamHTZgM0MexJssK8h4SUBbnp+BEMex7AZFPhnPJ/iPL48nBMEUY8cZW5YZQ6bVC236IXaLz5ONP3RFqM4AH+1og9o5Ja9qEf1xZaYBhjpmJepv5WC22CO3XQOG09nn3xzAVfjNfEKLZk6/JN4SPWyGZIA3LTJnSTG+aCLv0pJtP0mes1DIrp6+ni+j0vsrKvpEbS3obnjtyHy6Ljt0n3qpONjrbjv45BQhOAitmZcCdx05u8GhkCEi6QvNPJgjmwDpizcSZNiAdVb5P/ZrzgKLKRkljKHuw/vdaaW7z3sqEmRsgxMnj9xGCXC6d+nXBBo41+ipjsA5QPrbZY+szhbw1N1kVS0U0pgPP6+QdS1cQxfPKBa5gx+MYegE/R4bZRoIf3dx3aMFy48d5raqTBMwWiJUjQEn8Zv/na5+uZKzjvzDmrhxsQCIlbpAd8L1M72h2XHgBmzf1rjqmBggugN8gekRLVPb2yk55aMZQKcFI7xsLBoJnN4p4fpY2+vqTHmDlX4epDB+d85rWnTsjBeMNj7BdumFH5IZgP4qrYe0QU+u5w5hm3pJhxR6Eia3SmjWfTlxcxCc2IDzQH8mO81aFY9+3DK8d9sOacmNNMBA3WLK90BZJOtg31p0F8hZJXS7PL5CGcou6o+pAEfQlo7/KB/89TR1PhqG0YbsqKfHLyH7ja9CJ1eCDSTcnZM0sksN5WtQVfdiXniYiOYq1E/LlfR2YnWAod1DGXHY4F0MaBX4lkR0QbkT2T3264fH5I8hutmYCFcRW0mrATwRedVfqG2LWekg8I52FYn3kAfuNaak+VfS2/lJDWz0NkcK+LbwXRXWGgpxg16Xt3l7CIjRMLisTsOzC4RDEYrgq9SdLjWX1EXb9GY+anC7FQ7UXKxlqiD/5ZMfvDSZ8nf23OpnWhjkFigskQvUw6iClbE9gtZ73MM39YthJPg3RmEIcHsl9vMOpdUbpjUqY8xstqipoROTzVljVV1gCX0/WQC0rmhSSgfvxhn2Dp0fTlKhoOuhqB3yjuEgpumahZIzf0p9bDqr8MfZwVAxdE5qRw4DlbduWWhPMo1Lf0s/+rJNi8AjcnYvnAx1yga7J1sSuGbsn+3ESmLnL9IhvKioqro7wr0l5S3nElPU+SQiLMK6GTYFpPpNi/EkUhBLc6+Qa8KiEimqAxHCC+WsWODAM9sat6iiLDr9BMvLQw/U00EZyjzULhonb19Oj0shajmxqdU86vSRJMXRi5zRtMiWrz3QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AafikYBv5m9i2jTuZwbyn1",
      "input": {
        "note": "The bear appears to be lifted in the gripper with the open case visible beyond it; carrying it forward and left to hover over the safe's interior.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.32,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AafikYBv5m9i2jTuZwbyn1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0126, 1.1046, -1.087, -0.6838, -0.3824, 0.9965, 0.881, 2.1048, 2.1788, -1.1419, 0.6235, 0.5312, 0.0167]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2447 left_yaw=0.0822 left_pitch=-0.167 left_roll=0.312 left_gripper=0.9965 right_x=0.3931 right_y=0.3201 right_z=0.2303 right_yaw=0.0509 right_pitch=-0.2141 right_roll=-0.1944 right_gripper=0.0167\nstate[joint_eff]: [-0.2256, -2.0718, 6.5026, 1.1893, -0.3297, -0.0464, -0.0122, -0.6632, -11.5214, 7.4598, 0.8278, 0.4078, 0.0024, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9739ee5e39e8238caf64df0108c60f56f6494478de2e521660ca5cb89a7c14c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5520d8201ab64c344dc968eee9d73f179ce0805a4abfe93a6f65347e2126ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc5c8a5db8f1323c0bc7d47a0936bd3e2f503f43a0c9deed1cfc50a6180970f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 9.618 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9848, 1.808, 0.8768, -0.1619, 0.7063, 0.6544, 0.0134]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2974 right_y=0.2472 right_z=0.0264 right_yaw=0.0344 right_pitch=-0.1609 right_roll=-0.1716 right_gripper=0.0134\nstate[joint_eff]: [-0.1026, -1.9487, 6.2564, 1.199, -0.3639, -0.0366, -0.0122, -0.335, -9.0051, 5.5726, 0.7399, 0.2222, 0.0073, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9867, 1.6169, 1.3205, -0.8352, 0.6872, 0.654, 0.016]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2955 right_y=0.2503 right_z=0.1747 right_yaw=0.0411 right_pitch=-0.1973 right_roll=-0.1936 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -1.9487, 6.188, 1.1941, -0.3687, -0.0659, -0.0122, -0.4444, -9.5932, 8.6769, 1.1551, 0.4762, -0.0366, 0.7106]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0126, 1.1046, -1.087, -0.6838, -0.3824, 0.9965, 0.881, 2.1048, 2.1788, -1.1419, 0.6235, 0.5312, 0.0167]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2447 left_yaw=0.0822 left_pitch=-0.167 left_roll=0.312 left_gripper=0.9965 right_x=0.3931 right_y=0.3201 right_z=0.2303 right_yaw=0.0509 right_pitch=-0.2141 right_roll=-0.1944 right_gripper=0.0167\nstate[joint_eff]: [-0.2256, -2.0718, 6.5026, 1.1893, -0.3297, -0.0464, -0.0122, -0.6632, -11.5214, 7.4598, 0.8278, 0.4078, 0.0024, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9739ee5e39e8238caf64df0108c60f56f6494478de2e521660ca5cb89a7c14c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5520d8201ab64c344dc968eee9d73f179ce0805a4abfe93a6f65347e2126ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5c8a5db8f1323c0bc7d47a0936bd3e2f503f43a0c9deed1cfc50a6180970f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpggKjgEIEhgCKkDZN0nhAROYaDDYr1ZgZpAg9wt4YNL/hq8IHLg15Ykk85GHcJNhzOy8bwtB6EJHRhEWYy7NIDBXfpM9+mUcmiVtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaukzNUGEgwmpCKly/ODb5wFDO0aDAvKVbIxgfkrw9sRnSIwGI6ZMuJNFbiauSTBoxtAXjCMoIMST9D+VjfPjCSideJ8bd3u+ZwpB2a4i/wawf2EKsQG++kfLLh3XdL7zVzluIOBWRxO3NTXDhJ3Z4kWwV6LtH3AOQavVlDuZhCsvKCGYqyJF6ldqkwPhfYUHVOuOITI4CgnINvcIuPJO5Qv2R+fnsaXA22L/2aqD9BSqBnRlHcXXGvrHri/J4U1elcqe6daPqXbBsIIvkGFwRBrxHdTBT3drWoJEEngkT5mlZSuNCMkZ62vOzsX6f0n88Z0E3pn5CqtH5aqqL0SYBvsdBFgGmJWe+7EsmG+deIhnr40eB0mOgJtu4BtZOVgUi/JrnMdUjXsfdX3aO75BrCu1s2cfQXSOLzKJqQLrI1pvtET882qGpOKAQrIqT74PKpXtAeeGGzHRHBcQX/OmQhfXy0S+bhiTms6+tHyK5qpbfcPJ2KO8GkONMExbruGP9rCeg/S8lP+L2bwWRsbGCYWbIGJQF87PF2tzAZYQRAH/K3a0HOOgjw8hiSpcU95/ALqaUvKtgBu8GQdKBHX/c/b9Sf85pzECqAfDKLgkUjYQXVUYqdbkNxoktGghb3K2w1Ia12TAeJKhe5COnPLJa+bjkF//+8UPiZWc9/oX+s2z7mxwrpqdO/euVRWMT0pyykIx27PMkoNx5hjPO5TRJee4Tt2885zlsuOrc+TWAk5z10M8EIuBxHKhl8fUsITKZ+1HKu6nbAtWEtDCYkf0AhCk3ifWk1sLK6wPnfKgEC41jcDeQNx6ly6hcMYVK1GwxHAvS1xY69KT644INWvFWwqlGmU65CTchSnhWDPBkAVznR2P2Y96W69AlF8Bh1WPmnSSPKdKnWWEtooMbZYkI9HnBqlK+pV4y+waVc1veVxuLP5nKW8zKcetQdOwp2GPOwiHD1Ul9s6i5blSDZV1jJxVkBjhwrZAnIUFG4EXOuDeGiDuU+wFisEFqGdq2NUF/DdJIso+EMjfkjR2EjKlRJ44fQy8VPZVwnY1KOOGBf4DWnMme22n6O7frPHzMtSDIP3wsnXj+oLwpyEZNJVuSfjda8t5XPYT2WQdsDeyK7OOPJeXPo/RUY7lpAnTgyJ3vrlFI0b+d/tWfgRGCQrHOeufsPV2sVvmRbBHouBV849sSZVT/jp/op6FyhKq1NrZAkiKSyv+Dzh89MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Quqdn93Etm9ri2pcg9UiMm",
      "input": {
        "note": "The bear is definitely held; the case's near rim shows just above it in the wrist view, so I'm advancing 5 cm to get the bear over the interior.",
        "targets": {
          "right_x": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Quqdn93Etm9ri2pcg9UiMm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0134, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7937, 2.318, 2.4992, -1.2606, 0.5705, 0.4473, 0.0165]\nstate[eef_state]: left_x=0.2528 left_y=-0.0544 left_z=0.2445 left_yaw=0.0822 left_pitch=-0.1673 left_roll=0.3123 left_gripper=0.9965 right_x=0.4391 right_y=0.3155 right_z=0.2161 right_yaw=0.042 right_pitch=-0.2649 right_roll=-0.2275 right_gripper=0.0165\nstate[joint_eff]: [-0.2803, -2.0308, 6.147, 1.1746, -0.3541, -0.0415, -0.0122, -0.253, -12.9299, 7.9248, 1.2137, 0.4176, 0.022, 0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c1fbbddad2bdf04df2ffa8baf1085369309d378e6a4184023c7ac7b5c83b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5415fa0013efba675ca775e0c2a691d38d7618710d7926abcf5e65ea9ec4ed3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af1172e6c155a6d53c81b713f4643659c2c17008f36bccd73e928a64862b534e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 11.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0107, 1.1046, -1.0859, -0.6838, -0.3824, 0.9965, 0.9867, 1.6169, 1.3205, -0.8352, 0.6872, 0.654, 0.016]\nstate[eef_state]: left_x=0.2526 left_y=-0.0542 left_z=0.2452 left_yaw=0.0818 left_pitch=-0.1648 left_roll=0.3099 left_gripper=0.9965 right_x=0.2955 right_y=0.2503 right_z=0.1747 right_yaw=0.0411 right_pitch=-0.1973 right_roll=-0.1936 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -1.9487, 6.188, 1.1941, -0.3687, -0.0659, -0.0122, -0.4444, -9.5932, 8.6769, 1.1551, 0.4762, -0.0366, 0.7106]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0126, 1.1046, -1.087, -0.6838, -0.3824, 0.9965, 0.881, 2.1048, 2.1788, -1.1419, 0.6235, 0.5312, 0.0167]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2447 left_yaw=0.0822 left_pitch=-0.167 left_roll=0.312 left_gripper=0.9965 right_x=0.3931 right_y=0.3201 right_z=0.2303 right_yaw=0.0509 right_pitch=-0.2141 right_roll=-0.1944 right_gripper=0.0167\nstate[joint_eff]: [-0.2256, -2.0718, 6.5026, 1.1893, -0.3297, -0.0464, -0.0122, -0.6632, -11.5214, 7.4598, 0.8278, 0.4078, 0.0024, 0.652]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0134, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7937, 2.318, 2.4992, -1.2606, 0.5705, 0.4473, 0.0165]\nstate[eef_state]: left_x=0.2528 left_y=-0.0544 left_z=0.2445 left_yaw=0.0822 left_pitch=-0.1673 left_roll=0.3123 left_gripper=0.9965 right_x=0.4391 right_y=0.3155 right_z=0.2161 right_yaw=0.042 right_pitch=-0.2649 right_roll=-0.2275 right_gripper=0.0165\nstate[joint_eff]: [-0.2803, -2.0308, 6.147, 1.1746, -0.3541, -0.0415, -0.0122, -0.253, -12.9299, 7.9248, 1.2137, 0.4176, 0.022, 0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c1fbbddad2bdf04df2ffa8baf1085369309d378e6a4184023c7ac7b5c83b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5415fa0013efba675ca775e0c2a691d38d7618710d7926abcf5e65ea9ec4ed3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af1172e6c155a6d53c81b713f4643659c2c17008f36bccd73e928a64862b534e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISwAkKjgEIEhgCKkCeeYxsyEM/LjYaGi1c2I1iszNzixvXkkThT25I+/02F5s4Pdm30XEJjuJz64Ogp3u0ICzG8cpfqXbn7nUYP8FpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWkzNUGEgxnq+5kdMad4/+Pkz4aDOWUYyuM04uTF1kP1iIwZz1pN2/aSUMUKXIHKplWUT30KBnqymTwnmZpfcpduID7phZsdf9lwmBlneBduS8DKt4HDYYCFEqGqQ3vhesJ+Nnx20OfBJrQZBajwzDp19fCOraXOiDZ0ZX1YbSsl47bVLowZhVr6WrctZOgxOUkwe2oJgTCtdwYWeVOJLnXRLMNvuSQZlgDgpAziDDZUbfYy2U60eCYDbDJfhWJg7i/sTFQ/j8YZW9sOQO9jddDNxZ/gaXfuynXOrB7niBE07Ykq8Jww05zlF9SvN8gabVxlY8NFZ5rcycmekqW5kks2soUE6krnYgnYeehtrfpBjtvOBi+6qDqEcqA+lZAsHk8G3YBPdKOzDH18mNGnPu+ApqCPUVVLXfO8OzmLKuZ36cDs0kZmvYys0jvcunLFtSx/amz1I/a2KhNld0ZY7bnyclCuVtUGO3M/GagT8l31VuJ+G07o782UASmH8kxX7pwA/omQj6rjaZwmJbP2idoU2v+3c4Sta76E41lsnIPTJCcm7zH/OMtCWtwI9SIvJSXHhOLil/5ObIkvamWkF6I14ZkXcEzQAV1xigURgwN1uIpuu0r9ib2xfH7h92p23p5xZ9gu7m2VBAHBJqujrxvBEa0W+IltSpdBWcSEBq2ubEf1VJTBmijHIMOopHAy9ptSHbmDCHVPZPKeTnaUEag7NglGvllAVww9oWi1Zr8xG89f8B24iDLzvVu9KVWJVtk/djFtDb/yAYrI6FwC6xe8srKQPPLbamJ5/AfmN+oQHQvsdBxh1KJNb95cs/oxeSD6fUciv0pkuwYpgY84Luo4s2z4GmJ6ML0XVM9m2Rxo/PcdGQ9o0vdT8cmgaglkMatjxuY8Ba97Ck1LCVhgOIJ2ooPJvH6Oxdv+f9hKCCaEAaePj7AVeiD1EbQlCsCn8RHLlZLAPro6dfJx5h4mZfBQmgvE4DK7it2KgXH+C5isOqWYsHRe4a1tzKefYHkuBxOEPVmQmNGoloVMm/xk5cPvNnBZ6Rp5iT9iDFWM0feZO72Fi5JP8Iq6PC537eO6rrgTbi2zgFhyr5Rmlzduzuilr4IpR4idnA+3e25INKzvRHwix8hV2XZ6/1vaAY6ERHGw41cu7MsCXmKUJsYOQqwlIeQb5bIlOBKGO/o8ZsLcXA/6KrcoP7SoqYCsufAZUJPKcqC/whC5/8CkWa0BCyTtucTmFl72V03lCUISK9uy9C7bF0v6z8/YlzLLZSiWwjL1xs5PMKzIAG4v0/YmnRKQ4sVXzdlGSsppE5A11GMlcrHM2EJQSMFhCPAfrPJGIt3w1ExGDxZOjxD4gKHKx5Nz3s+CBQECVBDSscdV7iunXMVRcwNg76ndtzc+f1e2ycn26pIVXAEuVoQs3ExgfZDd4S2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UC68zfnycPALiMTYku9VyY",
      "input": {
        "note": "The case's red interior fills the view just beyond the bear; nudging forward and down then opening the jaws to drop the bear into the safe.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.47,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UC68zfnycPALiMTYku9VyY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0863, -0.6838, -0.3824, 0.9965, 0.786, 2.3379, 2.5286, -1.2633, 0.5632, 0.4252, 0.9949]\nstate[eef_state]: left_x=0.253 left_y=-0.0546 left_z=0.2442 left_yaw=0.0824 left_pitch=-0.1684 left_roll=0.3133 left_gripper=0.9965 right_x=0.4439 right_y=0.316 right_z=0.2148 right_yaw=0.0529 right_pitch=-0.2669 right_roll=-0.233 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -2.1128, 6.147, 1.1941, -0.3834, -0.0366, -0.0122, -0.1573, -12.6017, 8.8, 1.3309, 0.3248, 0.0171, -0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6398cdfd2f432d931c58abc19269bcd97002a1f8a49d509448fa5ddf96ce3b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81a1b5145a88b2e4717381814a529d9b3cce2a89dec2c2c76f96d92a09b9463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d856c67d89b3c8bc5ea9e8788216c2bfc6d24369a859ae591e1c93693aa50aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 7.312 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0126, 1.1046, -1.087, -0.6838, -0.3824, 0.9965, 0.881, 2.1048, 2.1788, -1.1419, 0.6235, 0.5312, 0.0167]\nstate[eef_state]: left_x=0.2527 left_y=-0.0543 left_z=0.2447 left_yaw=0.0822 left_pitch=-0.167 left_roll=0.312 left_gripper=0.9965 right_x=0.3931 right_y=0.3201 right_z=0.2303 right_yaw=0.0509 right_pitch=-0.2141 right_roll=-0.1944 right_gripper=0.0167\nstate[joint_eff]: [-0.2256, -2.0718, 6.5026, 1.1893, -0.3297, -0.0464, -0.0122, -0.6632, -11.5214, 7.4598, 0.8278, 0.4078, 0.0024, 0.652]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0134, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7937, 2.318, 2.4992, -1.2606, 0.5705, 0.4473, 0.0165]\nstate[eef_state]: left_x=0.2528 left_y=-0.0544 left_z=0.2445 left_yaw=0.0822 left_pitch=-0.1673 left_roll=0.3123 left_gripper=0.9965 right_x=0.4391 right_y=0.3155 right_z=0.2161 right_yaw=0.042 right_pitch=-0.2649 right_roll=-0.2275 right_gripper=0.0165\nstate[joint_eff]: [-0.2803, -2.0308, 6.147, 1.1746, -0.3541, -0.0415, -0.0122, -0.253, -12.9299, 7.9248, 1.2137, 0.4176, 0.022, 0.2906]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0863, -0.6838, -0.3824, 0.9965, 0.786, 2.3379, 2.5286, -1.2633, 0.5632, 0.4252, 0.9949]\nstate[eef_state]: left_x=0.253 left_y=-0.0546 left_z=0.2442 left_yaw=0.0824 left_pitch=-0.1684 left_roll=0.3133 left_gripper=0.9965 right_x=0.4439 right_y=0.316 right_z=0.2148 right_yaw=0.0529 right_pitch=-0.2669 right_roll=-0.233 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -2.1128, 6.147, 1.1941, -0.3834, -0.0366, -0.0122, -0.1573, -12.6017, 8.8, 1.3309, 0.3248, 0.0171, -0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6398cdfd2f432d931c58abc19269bcd97002a1f8a49d509448fa5ddf96ce3b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81a1b5145a88b2e4717381814a529d9b3cce2a89dec2c2c76f96d92a09b9463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d856c67d89b3c8bc5ea9e8788216c2bfc6d24369a859ae591e1c93693aa50aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwoKjgEIEhgCKkARYhGrxThYXvzWp+pU6JCdSRJ9zjG0EvXK7jdvujjOnmk2VrvwloDXVnkJ0ttSmn2VRJPU4zz4G6b0EWAeFTM0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGkzNUGEgyEXDV6MpeCTzqD1woaDOFZzG2OWv/UoaiqMiIwwdyiwwhbWooeTR5AXqw+NtsiTI/iVquXPVntow+/GNbYGVa46PH1zF2qcwmIX961KqkIMhr8um5Jip8I/R/eiGMCdYyVtq7iz+OsacOUGYqXK+GE28AkN/wKujnRL1lv8F0EtKCJ1tHm7j8ti9lbRDtOwM2XpP4REer73d1mY6/yA6KF/FkNFVux7FXkO6QNtflwKKhrhjL8EB3D4XiqqHB7CH29p7IMwWAbj41HBRcHxS/LfprE5St757Ne+Rmb+LB9N8BBAgEXJTT/ea3vyTAsTDq9R75AFeFwr5+sbOn20n0oq2J2giQ4ejZha6YGql5zamY/FY2UdqEutW93mm9qN0e8G636+xW8cN4TzWs6Boqa+rLLMVMXZqNn+3mJEYuqYf8j+XNqiKOSpQoVf53gHrpvA6IDbqHa37lewaQzGyyrdzMiNF7WdNiYkmFPbeLsiW2/Apjf9PJn7Ql40X8b378GjJl4U7atmDCXSSFWH488B9BlbslJs5eBnfZpkaFAllweTYSnnidynBonjIuj/Z67eMkahpXdWgmhxw0Clksr+KsIGA/+QpUaMu/yk573Ut6n1V3ncOImKhOvjOrUILDAZUsYlfy5lMKijU4RAuWn5JcOoSaN0pyQBmASq0IVyjy5dFM4eI/ecCMoGimNmGyOgixtrmq5cygVhHb7FZTNCZKpBjYgEYf298seKVD6xzPJimt5LOJGOzZrsNA//H5Ex6eJ0KwOe2Jm+wZk6NL7/zH6kaDoH6LTKM93sHGHJr1BMcvMa2jVkrk0aC6zCI/T7GHXx6U+VQS6nkHqqLyaLKVYajFsLFxpKBVAxfwLs46ZJHGxsmYPlsdWXkr+nx3a/y8dVDQmtEUhujTjl2ihtA1gyQXBTjUqFAZMUSRhitn2AK3YcFfWS8pTLJpeayB2DvFmJ7uxAFbNhrZvCGF/Bh5VDJKcFUzIMKzUAZkVXCfG49ZTfRHE3IGTMA1zP1+BrQe4ovAqy64WVEig0GjIgVxrNh+vveBZGXXrtxGC8g9VZDDhJ2yX55R0LdFB3yDPtKgBJGvVbKrL9dVdVrn0Y2WhWklf8eB02bHWq3MnZ2fgNpnRB3LJLQHqdS8Xkr/jnNfTqWNXYYNGTgPGCLQ/B2qCUi1qC3a0P/88ytUgWZzjFBW2jZtZSRWkkQSLL2H2k/PltFghPhkSPJJH30Zxe7YZ06TGDvM7gShavcCQv31hdtcQ3su6gRYz9kGZPgxR9dcp53BqgLHfOKiImpyFks0KVMi94xlSK/fhsFTDwjbRvAbZP1bEFouixJ8tqOw+xkS92G8+aqG23bbV289lTcKrz+R1ZPnT7ymfY1BuQrX9lX6Y26SJXfSTEOYLpyzh+C3CVheB/rnXVjMX55u3R+tx2cxhssJAgcb86cF2EKcGkVrvFwLCXDt9dTgYezd8N22OWqpHFAvQp9MjpJR+GpObMRZdO3qfHQQM9guVNJeFJMwcWy5lGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VG6ryFqhG7HcARGmAzrnke",
      "input": {
        "note": "Bear is in the safe on top of the teddy. Now going down beside the case toward the yellow ball, which sits just outside the case's right-front corner.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.23,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01VG6ryFqhG7HcARGmAzrnke",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7181, 1.9694, 1.2224, -0.2832, 0.5224, 0.3622, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0824 left_pitch=-0.1687 left_roll=0.3136 left_gripper=0.9965 right_x=0.4004 right_y=0.2376 right_z=0.0417 right_yaw=0.0555 right_pitch=-0.265 right_roll=-0.2195 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.9897, 6.3385, 1.1697, -0.3297, -0.0366, -0.0073, -1.0735, -9.1145, 4.4103, 0.5592, 0.2906, -0.1978, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d3431f085a70f6516b91784171813043bf1e0ed6b84e764967b6cf6c625093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db5dba24a995ed822b13285a0af007741d00634079f6538c6eacb019105a2f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:813578450b45e6b54f3acdd823cc4140c247520dd7ddd0b87ac67cf7d8904220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 16.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0134, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7937, 2.318, 2.4992, -1.2606, 0.5705, 0.4473, 0.0165]\nstate[eef_state]: left_x=0.2528 left_y=-0.0544 left_z=0.2445 left_yaw=0.0822 left_pitch=-0.1673 left_roll=0.3123 left_gripper=0.9965 right_x=0.4391 right_y=0.3155 right_z=0.2161 right_yaw=0.042 right_pitch=-0.2649 right_roll=-0.2275 right_gripper=0.0165\nstate[joint_eff]: [-0.2803, -2.0308, 6.147, 1.1746, -0.3541, -0.0415, -0.0122, -0.253, -12.9299, 7.9248, 1.2137, 0.4176, 0.022, 0.2906]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0863, -0.6838, -0.3824, 0.9965, 0.786, 2.3379, 2.5286, -1.2633, 0.5632, 0.4252, 0.9949]\nstate[eef_state]: left_x=0.253 left_y=-0.0546 left_z=0.2442 left_yaw=0.0824 left_pitch=-0.1684 left_roll=0.3133 left_gripper=0.9965 right_x=0.4439 right_y=0.316 right_z=0.2148 right_yaw=0.0529 right_pitch=-0.2669 right_roll=-0.233 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -2.1128, 6.147, 1.1941, -0.3834, -0.0366, -0.0122, -0.1573, -12.6017, 8.8, 1.3309, 0.3248, 0.0171, -0.2369]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7181, 1.9694, 1.2224, -0.2832, 0.5224, 0.3622, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0824 left_pitch=-0.1687 left_roll=0.3136 left_gripper=0.9965 right_x=0.4004 right_y=0.2376 right_z=0.0417 right_yaw=0.0555 right_pitch=-0.265 right_roll=-0.2195 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.9897, 6.3385, 1.1697, -0.3297, -0.0366, -0.0073, -1.0735, -9.1145, 4.4103, 0.5592, 0.2906, -0.1978, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d3431f085a70f6516b91784171813043bf1e0ed6b84e764967b6cf6c625093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db5dba24a995ed822b13285a0af007741d00634079f6538c6eacb019105a2f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:813578450b45e6b54f3acdd823cc4140c247520dd7ddd0b87ac67cf7d8904220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgYKjgEIEhgCKkCKslkQpx023tUDQJmeruNL4jCpe8/6vLRq6lf+hvDo+t4nUVbTRCNJF/pQeeRxDEpMr5aH59ARBe/MXJwebYCYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqkzNUGEgz8k0FZLxVvVa0RPJAaDL9IOOmEz5Oi5QeBtSIwBDZuknEyGi4NA7ll1qVmXskDQZ5z9xCzT7f+REwu0MNj2JMBDxY0fP3ee9GSApDLKrQEQmR4oj4vRLR9/ityIJl3yMt4el9VlUC+YOT+0oQ/mfG/SqTmq4mrIfQxUVMj6zDELsdVGUd1ifuxxq69cQNbZ8/Sq9YsvlKtN1qOvvQYcaNXIKJJ19j1y/oHaVJad0e80bFtY2Oa9VXXikUN74rPw/dg5Ae36a7DXjmbLQEQfO4YRmkqe+vSItYMA+4JkLic84ueGpIvSSrKMZtFZmyT9IVpzUsYCeMx3UMuU/EmOOW81f+PwrcZFZokdEoISaABD0iCeOlW3GrFZ4ycAK5vSu4xbXvvzIHMBs3PKrbmvLGAWLUdt/TxMaoF9Hv8+/yLBHi04whbA6AlYdz1Aa0jtrPU/JwQOKNh+fBjAynqmXpHTRB6MxfKL/t4p5U5Q1Xqx/cG93IBdxFn1HiPIh3m3OmiyMgZnxUdAXgTVfLyhZg4bpU2A6hogBcxMlssva6ZniLgEJ51XWpYZjH3eWIFFG88fAjpFtysm9BbSHEA0HQe72qqGsrib0jdhO8Sa6LD1yaLJMGv+TSF8qOu/eynWt5EJ5N21b7mL44o2oygwvFMwwQfoEPbEYA1XYjiERJkMNnoReROOKqNmpOpssebKo2DVsOdR6y9IUj1Mtch89iYwgJBTbjoNG6Bq+0zvoKJeJv3rQfb4UXjroG2LLloLIv5uODadov3bEwHSX3V7RUKqQKrDHXBFpGFv7UJNqRAGHRCVXq1QNHqM5eA8SfINU/5IGbSArtv/nYWI64kX+PMmOufGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WeWAQo1FSWjevTKVRguPHV",
      "input": {
        "note": "The yellow ball is at the right edge of the wrist view, outside the case; shifting right and slightly forward to line the jaws up on it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.185,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WeWAQo1FSWjevTKVRguPHV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3828, 0.9965, 0.5846, 1.9263, 1.1347, -0.1757, 0.4507, 0.2607, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0826 left_pitch=-0.1686 left_roll=0.3133 left_gripper=0.9965 right_x=0.4214 right_y=0.1909 right_z=0.0389 right_yaw=0.0411 right_pitch=-0.2589 right_roll=-0.2005 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.9487, 6.1607, 1.1502, -0.3541, -0.0513, -0.0122, -0.2256, -10.7829, 5.1487, 1.2625, 0.232, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd832f21a9419c1c8aa928eb5e1fda3ba145f08065462d46806ba2282951def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:869208c4a590c9dab423eaa100203debd6a9a96a1dfc8b44e4a2546d5632c825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b36a2dedb0765f2286df78175a89163aa4b0e85d18de00ea366979f28f73634d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 8.074 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0863, -0.6838, -0.3824, 0.9965, 0.786, 2.3379, 2.5286, -1.2633, 0.5632, 0.4252, 0.9949]\nstate[eef_state]: left_x=0.253 left_y=-0.0546 left_z=0.2442 left_yaw=0.0824 left_pitch=-0.1684 left_roll=0.3133 left_gripper=0.9965 right_x=0.4439 right_y=0.316 right_z=0.2148 right_yaw=0.0529 right_pitch=-0.2669 right_roll=-0.233 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -2.1128, 6.147, 1.1941, -0.3834, -0.0366, -0.0122, -0.1573, -12.6017, 8.8, 1.3309, 0.3248, 0.0171, -0.2369]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7181, 1.9694, 1.2224, -0.2832, 0.5224, 0.3622, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0824 left_pitch=-0.1687 left_roll=0.3136 left_gripper=0.9965 right_x=0.4004 right_y=0.2376 right_z=0.0417 right_yaw=0.0555 right_pitch=-0.265 right_roll=-0.2195 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.9897, 6.3385, 1.1697, -0.3297, -0.0366, -0.0073, -1.0735, -9.1145, 4.4103, 0.5592, 0.2906, -0.1978, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3828, 0.9965, 0.5846, 1.9263, 1.1347, -0.1757, 0.4507, 0.2607, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0826 left_pitch=-0.1686 left_roll=0.3133 left_gripper=0.9965 right_x=0.4214 right_y=0.1909 right_z=0.0389 right_yaw=0.0411 right_pitch=-0.2589 right_roll=-0.2005 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.9487, 6.1607, 1.1502, -0.3541, -0.0513, -0.0122, -0.2256, -10.7829, 5.1487, 1.2625, 0.232, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd832f21a9419c1c8aa928eb5e1fda3ba145f08065462d46806ba2282951def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:869208c4a590c9dab423eaa100203debd6a9a96a1dfc8b44e4a2546d5632c825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36a2dedb0765f2286df78175a89163aa4b0e85d18de00ea366979f28f73634d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014MZbrUPuA2iyXjsx3Ek8sb",
      "input": {
        "note": "Scale check says the ball is ~10 cm further right than the jaws; moving right along the outside of the case to reach it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014MZbrUPuA2iyXjsx3Ek8sb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0157, 1.1042, -1.0863, -0.6838, -0.3824, 0.9965, 0.3309, 1.8156, 0.9543, -0.0242, 0.2863, 0.0658, 0.999]\nstate[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.244 left_yaw=0.0825 left_pitch=-0.1689 left_roll=0.3139 left_gripper=0.9965 right_x=0.4319 right_y=0.0994 right_z=0.036 right_yaw=0.0378 right_pitch=-0.2577 right_roll=-0.1755 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.7983, 6.1744, 1.1844, -0.3687, -0.022, -0.0171, -0.8957, -10.0855, 5.0393, 1.3553, 0.315, -0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281d5aab927bf264bcf5592051cc6a276eeeebcb4151aef8f7a1c440094f8567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118562c08c09f750a0a9a83606d877516def0c9ecfa26807001577431acf4de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d0a4967c806034b57e4e3e71c7d5456090707c07e1b919f13b61b69b63b8caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 9.988 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3824, 0.9965, 0.7181, 1.9694, 1.2224, -0.2832, 0.5224, 0.3622, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0824 left_pitch=-0.1687 left_roll=0.3136 left_gripper=0.9965 right_x=0.4004 right_y=0.2376 right_z=0.0417 right_yaw=0.0555 right_pitch=-0.265 right_roll=-0.2195 right_gripper=0.999\nstate[joint_eff]: [-0.212, -1.9897, 6.3385, 1.1697, -0.3297, -0.0366, -0.0073, -1.0735, -9.1145, 4.4103, 0.5592, 0.2906, -0.1978, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3828, 0.9965, 0.5846, 1.9263, 1.1347, -0.1757, 0.4507, 0.2607, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0826 left_pitch=-0.1686 left_roll=0.3133 left_gripper=0.9965 right_x=0.4214 right_y=0.1909 right_z=0.0389 right_yaw=0.0411 right_pitch=-0.2589 right_roll=-0.2005 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.9487, 6.1607, 1.1502, -0.3541, -0.0513, -0.0122, -0.2256, -10.7829, 5.1487, 1.2625, 0.232, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0157, 1.1042, -1.0863, -0.6838, -0.3824, 0.9965, 0.3309, 1.8156, 0.9543, -0.0242, 0.2863, 0.0658, 0.999]\nstate[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.244 left_yaw=0.0825 left_pitch=-0.1689 left_roll=0.3139 left_gripper=0.9965 right_x=0.4319 right_y=0.0994 right_z=0.036 right_yaw=0.0378 right_pitch=-0.2577 right_roll=-0.1755 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.7983, 6.1744, 1.1844, -0.3687, -0.022, -0.0171, -0.8957, -10.0855, 5.0393, 1.3553, 0.315, -0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281d5aab927bf264bcf5592051cc6a276eeeebcb4151aef8f7a1c440094f8567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118562c08c09f750a0a9a83606d877516def0c9ecfa26807001577431acf4de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d0a4967c806034b57e4e3e71c7d5456090707c07e1b919f13b61b69b63b8caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywYKjgEIEhgCKkCgWK1zGjloNG9moawdL7+AM3F8DtzVQ0NIuv5IvRM4JJ/xiSXU4biouWFudXmDWIHevQxMRqTrRLuxeS64i6MGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSkzNUGEgzMLIXUr9kIHjGTNoIaDAaYIdW6J4ReeztIniIwjVzyXiyYkoU9dJXq6YoWFLLm9jbw7rbLqgrtvrLjdqsO01IfXA+TEgW1JZyPoYcWKukEaBWDRZnWG29DI/QC+jyMoPKKo9Xj26+ygItPOuj+SrTxbjZsaLvSW1AmCT5c9RoWZ9vY0HNQz1JjI3/EKJ0KyJNzNQysP6R3QdjBil4gEPxbS373lG1grg2CCDbzZJqrh/+xQq1tSXfscdgoreas4/jeXbefoLk938yOQWd9wUVcH8wb8/C+eUztQnpfSHMcO2aC0GBwhLByS3Uyrkm1tP5ipkttl4pqxku/wuBTavMCmpIOvXbvlifIfWUOOVEu05lcILnpWa0tbZrXQ9kOfTRe31XWzd5OuLaJzkxOQ6H8OjYqDOkY1NyKuij+Sq3DgshfCxXVwUv1Yqg1IyhJn1xU5owzEWh133C9EtRu5SuZpXUNj026ybGYIPYBDY4LDx84n82ROxKQ/05IEXKxqtxffmNz3z2b0ohghkmLWDmskfu0IAcPx2nx0bR2uEReV+2+7p0bKxTgIoZVhfKOI7OU3LTVxj3c/Hk+51DkXUtYw+tjNobVA2dusS0t+1FD+vW93OB13w187IR2E9aQ9Jydn0Kd9AfkA6QBGR8APeTfJ2IAVtPS0nNrraSFHjp/HcElFb0paCPo9blLi4sfEzb06sJEqKpCpej9MRKoYXW0CK9imCaFcHrJH7Zsah3SXc5QTuhzAe6EDGe9/L4dG+UNMdpzld/UNN9LJYQSF7Fy6Ewx+cIibKCLMkDDjM7yguQx1Tcq/Z2g9RpgV1TuXKNGlI2pELavzfvmknkQZLD2N394E6ai5FeJDi1nFgDDfH2srtjrXEz0edLouLb/vEm8AXgVzPKFs+d2qKmD23sAjf4ntost+SAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011MowNh1M46PyinymQyYhCF",
      "input": {
        "note": "The yellow lemon is just left of and beyond the jaw column; moving forward-left and down to straddle it.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.115,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011MowNh1M46PyinymQyYhCF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0874, -0.6838, -0.3828, 0.9965, 0.334, 1.8786, 1.0119, -0.0212, 0.2802, 0.0505, 0.9989]\nstate[eef_state]: left_x=0.2529 left_y=-0.0544 left_z=0.2441 left_yaw=0.0827 left_pitch=-0.1692 left_roll=0.3138 left_gripper=0.9965 right_x=0.4454 right_y=0.1066 right_z=0.0298 right_yaw=0.0544 right_pitch=-0.2627 right_roll=-0.182 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.8803, 6.2154, 1.1795, -0.3101, -0.0562, -0.0122, 0.6496, -7.9658, 6.1607, 1.2283, 0.2564, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8d882d6aed891a6c03702a44763e51bfc2061464ab31a42a05d1ba174c541b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3922fb1414133ed6b8f59e0fc20429764616360dd62cd6f1e04696f70ff8a019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bccc55eba138f772b43f18ea3f4ecc0c8ff581b39e3ebbdb73e3b2acf67bff42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 17.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0866, -0.6838, -0.3828, 0.9965, 0.5846, 1.9263, 1.1347, -0.1757, 0.4507, 0.2607, 0.999]\nstate[eef_state]: left_x=0.253 left_y=-0.0545 left_z=0.2441 left_yaw=0.0826 left_pitch=-0.1686 left_roll=0.3133 left_gripper=0.9965 right_x=0.4214 right_y=0.1909 right_z=0.0389 right_yaw=0.0411 right_pitch=-0.2589 right_roll=-0.2005 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.9487, 6.1607, 1.1502, -0.3541, -0.0513, -0.0122, -0.2256, -10.7829, 5.1487, 1.2625, 0.232, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0157, 1.1042, -1.0863, -0.6838, -0.3824, 0.9965, 0.3309, 1.8156, 0.9543, -0.0242, 0.2863, 0.0658, 0.999]\nstate[eef_state]: left_x=0.2531 left_y=-0.0546 left_z=0.244 left_yaw=0.0825 left_pitch=-0.1689 left_roll=0.3139 left_gripper=0.9965 right_x=0.4319 right_y=0.0994 right_z=0.036 right_yaw=0.0378 right_pitch=-0.2577 right_roll=-0.1755 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.7983, 6.1744, 1.1844, -0.3687, -0.022, -0.0171, -0.8957, -10.0855, 5.0393, 1.3553, 0.315, -0.1587, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0153, 1.1046, -1.0874, -0.6838, -0.3828, 0.9965, 0.334, 1.8786, 1.0119, -0.0212, 0.2802, 0.0505, 0.9989]\nstate[eef_state]: left_x=0.2529 left_y=-0.0544 left_z=0.2441 left_yaw=0.0827 left_pitch=-0.1692 left_roll=0.3138 left_gripper=0.9965 right_x=0.4454 right_y=0.1066 right_z=0.0298 right_yaw=0.0544 right_pitch=-0.2627 right_roll=-0.182 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.8803, 6.2154, 1.1795, -0.3101, -0.0562, -0.0122, 0.6496, -7.9658, 6.1607, 1.2283, 0.2564, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8d882d6aed891a6c03702a44763e51bfc2061464ab31a42a05d1ba174c541b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3922fb1414133ed6b8f59e0fc20429764616360dd62cd6f1e04696f70ff8a019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bccc55eba138f772b43f18ea3f4ecc0c8ff581b39e3ebbdb73e3b2acf67bff42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS5QoKjgEIEhgCKkClRfXRkYd+i9H8S/Ff+ErYqrwjf87VXFalaTTKbq8mESDfNMZsdE6KzPvFo9cLZR8IjUQRa2aNu6HLRg2+DMvyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6kzNUGEgzwp6zja3VCbpv9ugYaDEvmD+PRYMObIxVDfCIwqhxVHsqrLXilp6DDUc5jp+Xdfz2YSL1OMqSKubhnbHP+IpwAeMn3GfFNP8jU1tKEKoMJASJUt2Ti0t3fdz9OAmx8vWu6wD7Xiq9+qEIwFYBvuUuEtbBJfR2p4xHctp0w6NThiz8Y5dn7Tzj9E9K+ZbFfloGChwdKJUWcgvjVFilJQB/G69LSRqTLUDjCCfRJnHvOp0y2Sw6l8WLz55TR4xSFvCRzAsPro0xYtu8fo6LKHK8nLRTm/ot/JHLHPAxajA9LPLQq4OZBWzcsfEQFk4J/24oCwJRpACv542d1WKMrZM+df90rW2MPJrOGslKwVRHcTHiYKgdRrWJcobfJZ0aUv7vVA1axpDvvQSUvVxj1kWOgCHxONfHi39Xus4BrqLN1PdrSYTWDghorfE9lYakUsJmJjbJ77CwdW4WYVVxxniL9oWVtmBK/9XtcuF+bfrGHZDrxx0APs11z6i+VRr2PakD5v0k4dZ25OOyW4dXPLPZn4o784FLGLCGuKZ5uFnO6Irj5GShi8Kw/K/V71fTLCB7qaDKDTGdMDIwErRNSKEVYeHGPPmrs0P1vReZi2M1fCohaSlRtDvlRS8H5lO7PR24dSf44RtrDRqm6VZIxp7TkPF0Dw8VGPFHny6L2lRQHrrDWkUZwWQGSgvwPBpGlNpxvvTQuDAMgqPjK6GMX+hwbkxQ9xHsf4pj/PeJkwqpnsENOhgxw5CSUHpE4RdKmNh7mk7PLexFFTKX8T1trbdhBiaCS8TMbXQoaTbxVR9+48iLjJTCnCd/n6Fm7tbxRg+SwsL9QQa+Os8B3SMVVwwIT0oVJpNCM77baKZhBOsUJiP3/gmc6y3vwn94FY6i2KMW5XwEle2fhTfEids/LXH4e2+7UANHjVEoGcQ+CggTeOX3t0mz92sIRq8vf8zvVNDKnH2FGVsP0LxOJuV51b8usU/cvpOmnrMnDLybRGQ51zpWOet7lQkAKL+zTaOPI82wCt/J8aP7AzJQJJll/KnC50HHUZzhmJ5DrFN7RnCkyHguYDSN6Qam5veoBlxJhYRcu3+YuFVO0eRWeDEhtFlI8bL0dtDgj57w91S3M3mH3R6giDwYeBl9Ibv0cJJ6/OjrilMml44qx3ua3vFA9MvKSYBxuKmC0HLuq0O7wm9psdXqSpK0f4w8mioPI6u9ozGQyWkIOBi6kkPHvlUlu/DWvWOi8DH777lWnplpLqGFUggogwMFAKbRsVsn6mzqg2i6jN95b4X1gUNVyIrQINe/vYaptXj+uiyCkLzhAomi9Y3pCvm3ix8YnXEnqQB7cX4IkRB7gcBLdFly6ganV+3TLZlcxDOALWjE2Q9kVLl94m4AZpZzS9eLYEZY2UCF2jun+j0GBaLrJTUbkDQyryIQrAyAoh8EYWR+W0FyLEzS7wfzbECF/ddUI3H7iLh2jH0WsNxqAVm/0vI8FD0F0XfYa/Wt+uUJYAPUVTMgRSd07DAr7dy5DRx5mBBBghGjGRVx1avSHJkqPP9jVZrp7ClOSqePhD768sVFMnkKTSKjU2mT8ZlTwcMiRWoGgB9b9TC+3XIrGhDfixor+A58AA4WVdEFX+8CcupLwMf5ZAFPeepWNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XwWsL61xdr97QmkASNQTzH",
      "input": {
        "note": "Nudging 2 cm left to center the lemon between the jaws while closing on it.",
        "targets": {
          "right_gripper": 0.15,
          "right_y": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XwWsL61xdr97QmkASNQTzH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.0172, 1.1042, -1.0863, -0.6838, -0.3828, 0.9965, 0.3466, 1.9038, 1.0218, -0.0303, 0.2634, 0.0505, 0.1558]\nstate[eef_state]: left_x=0.2532 left_y=-0.0547 left_z=0.2436 left_yaw=0.0828 left_pitch=-0.17 left_roll=0.3146 left_gripper=0.9965 right_x=0.4429 right_y=0.1149 right_z=0.0203 right_yaw=0.0792 right_pitch=-0.2898 right_roll=-0.1756 right_gripper=0.1558\nstate[joint_eff]: [0.0068, -2.0308, 6.3385, 1.2039, -0.3492, -0.0269, -0.0122, -0.4855, -11.2068, 5.2718, 1.4774, 0.3736, 0.0366, 0.2466]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b295790790e7283aea835a81b3fc1f1a7328c666200fbc6e422b4f889f42d2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3c88076062bc42e16ebe11efad4d447687431805dade7e12c83d7499b71bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a622db2583030629d4d2fc9d23d7457f4f2f26c16096f6a538c1fec6303d13e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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